nvidia@tegra-ubuntu:~/ros2_ws$ ZED_Explorer -a ## Cam 0 ## Model : "ZED X" S/N : 41385721 State : "AVAILABLE" Path : /dev/i2c-9 ID : 0 Port : 0 Type : "GMSL" ******************** ## Cam 1 ## Model : "ZED X" S/N : 49440015 State : "AVAILABLE" Path : /dev/i2c-10 ID : 1 Port : 0 Type : "GMSL" ******************** ## Cam 2 ## Model : "ZED X" S/N : 44036609 State : "AVAILABLE" Path : /dev/i2c-11 ID : 2 Port : 0 Type : "GMSL" ******************** ## Cam 3 ## Model : "ZED X" S/N : 40483530 State : "AVAILABLE" Path : /dev/i2c-12 ID : 3 Port : 0 Type : "GMSL" ******************** nvidia@tegra-ubuntu:~/ros2_ws$ ros2 launch launch_files zed_multi_record.launch.py [INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2026-05-21-19-55-30-203325-tegra-ubuntu-6697 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: * Starting ZED camera front (zedx, serial: 41385721) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/front/zed_container` [INFO] [launch.user]: * Starting ZED camera rear (zedx, serial: 40483530) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/rear/zed_container` [INFO] [launch.user]: * Starting ZED camera left (zedx, serial: 49440015) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/left/zed_container` [INFO] [launch.user]: * Starting ZED camera right (zedx, serial: 44036609) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/right/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [6720] [INFO] [component_container_isolated-2]: process started with pid [6722] [INFO] [robot_state_publisher-3]: process started with pid [6724] [INFO] [component_container_isolated-4]: process started with pid [6726] [INFO] [robot_state_publisher-5]: process started with pid [6728] [INFO] [component_container_isolated-6]: process started with pid [6730] [INFO] [robot_state_publisher-7]: process started with pid [6732] [INFO] [component_container_isolated-8]: process started with pid [6734] [INFO] [svo_controller-9]: process started with pid [6736] [robot_state_publisher-3] [INFO] [1779393334.334544303] [rear.rear_state_publisher]: got segment rear_camera_center [robot_state_publisher-3] [INFO] [1779393334.334703920] [rear.rear_state_publisher]: got segment rear_camera_link [robot_state_publisher-5] [INFO] [1779393334.334543663] [left.left_state_publisher]: got segment left_camera_center [robot_state_publisher-5] [INFO] [1779393334.334704176] [left.left_state_publisher]: got segment left_camera_link [robot_state_publisher-5] [INFO] [1779393334.334728240] [left.left_state_publisher]: got segment left_left_camera_frame [robot_state_publisher-5] [INFO] [1779393334.334741584] [left.left_state_publisher]: got segment left_left_camera_frame_optical [robot_state_publisher-5] [INFO] [1779393334.334752208] [left.left_state_publisher]: got segment left_right_camera_frame [robot_state_publisher-5] [INFO] [1779393334.334761776] [left.left_state_publisher]: got segment left_right_camera_frame_optical [robot_state_publisher-3] [INFO] [1779393334.334727184] [rear.rear_state_publisher]: got segment rear_left_camera_frame [robot_state_publisher-3] [INFO] [1779393334.334742896] [rear.rear_state_publisher]: got segment rear_left_camera_frame_optical [robot_state_publisher-3] [INFO] [1779393334.334753904] [rear.rear_state_publisher]: got segment rear_right_camera_frame [robot_state_publisher-3] [INFO] [1779393334.334763856] [rear.rear_state_publisher]: got segment rear_right_camera_frame_optical [robot_state_publisher-7] [INFO] [1779393334.346980092] [right.right_state_publisher]: got segment right_camera_center [robot_state_publisher-7] [INFO] [1779393334.347145213] [right.right_state_publisher]: got segment right_camera_link [robot_state_publisher-7] [INFO] [1779393334.347168285] [right.right_state_publisher]: got segment right_left_camera_frame [robot_state_publisher-7] [INFO] [1779393334.347180253] [right.right_state_publisher]: got segment right_left_camera_frame_optical [robot_state_publisher-7] [INFO] [1779393334.347190078] [right.right_state_publisher]: got segment right_right_camera_frame [robot_state_publisher-7] [INFO] [1779393334.347199198] [right.right_state_publisher]: got segment right_right_camera_frame_optical [robot_state_publisher-1] [INFO] [1779393334.347997571] [front.front_state_publisher]: got segment front_camera_center [robot_state_publisher-1] [INFO] [1779393334.348113315] [front.front_state_publisher]: got segment front_camera_link [robot_state_publisher-1] [INFO] [1779393334.348134115] [front.front_state_publisher]: got segment front_left_camera_frame [robot_state_publisher-1] [INFO] [1779393334.348147268] [front.front_state_publisher]: got segment front_left_camera_frame_optical [robot_state_publisher-1] [INFO] [1779393334.348157348] [front.front_state_publisher]: got segment front_right_camera_frame [robot_state_publisher-1] [INFO] [1779393334.348166660] [front.front_state_publisher]: got segment front_right_camera_frame_optical [component_container_isolated-4] [INFO] [1779393334.419384383] [rear.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1779393334.478456814] [front.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-4] [INFO] [1779393334.508473257] [rear.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-4] [INFO] [1779393334.508580681] [rear.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1779393334.527744928] [front.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1779393334.527835393] [front.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rear/zed_node' in container '/rear/zed_container' [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/front/zed_node' in container '/front/zed_container' [component_container_isolated-4] [INFO] [1779393334.598175191] [rear.zed_node]: ================================ [component_container_isolated-4] [INFO] [1779393334.598270775] [rear.zed_node]: ZED Camera Component [component_container_isolated-4] [INFO] [1779393334.598288375] [rear.zed_node]: ================================ [component_container_isolated-4] [INFO] [1779393334.598298487] [rear.zed_node]: * IPC: disabled [component_container_isolated-2] [INFO] [1779393334.601078153] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1779393334.601155657] [front.zed_node]: ZED Camera Component [component_container_isolated-2] [INFO] [1779393334.601172969] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1779393334.601184073] [front.zed_node]: * IPC: disabled [component_container_isolated-8] [INFO] [1779393334.611363561] [right.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1779393334.651351649] [front.zed_node]: * namespace: /front [component_container_isolated-2] [INFO] [1779393334.651502498] [front.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1779393334.651534146] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1779393334.651589827] [front.zed_node]: Starting node initialization... [component_container_isolated-2] [INFO] [1779393334.651693123] [front.zed_node]: === DEBUG parameters === [component_container_isolated-2] [INFO] [1779393334.652171974] [front.zed_node]: * SDK Verbose: 0 [component_container_isolated-2] [INFO] [1779393334.652505768] [front.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-2] [INFO] [1779393334.653027916] [front.zed_node]: * SDK Verbose File: [component_container_isolated-2] [INFO] [1779393334.653452238] [front.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1779393334.653880241] [front.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-4] [INFO] [1779393334.648543280] [rear.zed_node]: * namespace: /rear [component_container_isolated-4] [INFO] [1779393334.648637200] [rear.zed_node]: * node name: zed_node [component_container_isolated-4] [INFO] [1779393334.648654896] [rear.zed_node]: ================================ [component_container_isolated-4] [INFO] [1779393334.648672049] [rear.zed_node]: Starting node initialization... [component_container_isolated-4] [INFO] [1779393334.649822680] [rear.zed_node]: === DEBUG parameters === [component_container_isolated-4] [INFO] [1779393334.650141050] [rear.zed_node]: * SDK Verbose: 0 [component_container_isolated-4] [INFO] [1779393334.650321467] [rear.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-4] [INFO] [1779393334.650469852] [rear.zed_node]: * SDK Verbose File: [component_container_isolated-4] [INFO] [1779393334.650592093] [rear.zed_node]: * Debug Common: FALSE [component_container_isolated-4] [INFO] [1779393334.650692573] [rear.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-4] [INFO] [1779393334.650796702] [rear.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-4] [INFO] [1779393334.650897822] [rear.zed_node]: * Debug Simulation: FALSE [component_container_isolated-4] [INFO] [1779393334.650990495] [rear.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-4] [INFO] [1779393334.651090080] [rear.zed_node]: * Debug Control settings: FALSE [component_container_isolated-4] [INFO] [1779393334.651187360] [rear.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-4] [INFO] [1779393334.651285249] [rear.zed_node]: * Debug TF: FALSE [component_container_isolated-4] [INFO] [1779393334.651385889] [rear.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-4] [INFO] [1779393334.651480290] [rear.zed_node]: * Debug GNSS: FALSE [component_container_isolated-4] [INFO] [1779393334.651572387] [rear.zed_node]: * Debug sensors: FALSE [component_container_isolated-4] [INFO] [1779393334.651663843] [rear.zed_node]: * Debug Mapping: FALSE [component_container_isolated-4] [INFO] [1779393334.651755876] [rear.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-4] [INFO] [1779393334.651854564] [rear.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-4] [INFO] [1779393334.651948453] [rear.zed_node]: * Debug Streaming: FALSE [component_container_isolated-4] [INFO] [1779393334.652052774] [rear.zed_node]: * Debug ROI: FALSE [component_container_isolated-4] [INFO] [1779393334.652155142] [rear.zed_node]: * Debug Nitros: FALSE [component_container_isolated-4] [INFO] [1779393334.652360648] [rear.zed_node]: * Debug Advanced: FALSE [component_container_isolated-4] [INFO] [1779393334.652429288] [rear.zed_node]: === TOPIC selection parameters === [component_container_isolated-4] [INFO] [1779393334.652551081] [rear.zed_node]: * Publish Status: TRUE [component_container_isolated-4] [INFO] [1779393334.652664681] [rear.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-4] [INFO] [1779393334.652787562] [rear.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-4] [INFO] [1779393334.652880651] [rear.zed_node]: * Publish Raw images: FALSE [component_container_isolated-4] [INFO] [1779393334.652989835] [rear.zed_node]: * Publish Gray images: FALSE [component_container_isolated-4] [INFO] [1779393334.653104844] [rear.zed_node]: * Publish RGB image: TRUE [component_container_isolated-4] [INFO] [1779393334.653218797] [rear.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-4] [INFO] [1779393334.653316045] [rear.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-4] [INFO] [1779393334.653432974] [rear.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-4] [INFO] [1779393334.653536591] [rear.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-4] [INFO] [1779393334.653636015] [rear.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-4] [INFO] [1779393334.653740752] [rear.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-4] [INFO] [1779393334.653847761] [rear.zed_node]: * Publish Disparity: FALSE [component_container_isolated-4] [INFO] [1779393334.653961937] [rear.zed_node]: * Publish IMU: TRUE [component_container_isolated-4] [INFO] [1779393334.654071378] [rear.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-4] [INFO] [1779393334.654163475] [rear.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-6] [INFO] [1779393334.651808356] [left.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1779393334.654296564] [front.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-4] [INFO] [1779393334.654269331] [rear.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-4] [INFO] [1779393334.654378484] [rear.zed_node]: * Publish Barometer: FALSE [component_container_isolated-4] [INFO] [1779393334.654489269] [rear.zed_node]: * Publish Temperature: FALSE [component_container_isolated-4] [INFO] [1779393334.654658070] [rear.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-4] [INFO] [1779393334.654765238] [rear.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-4] [INFO] [1779393334.654867095] [rear.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-4] [INFO] [1779393334.654981368] [rear.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-4] [INFO] [1779393334.655112601] [rear.zed_node]: === SVO INPUT parameters === [component_container_isolated-4] [INFO] [1779393334.655231545] [rear.zed_node]: * SVO input: DISABLED [component_container_isolated-4] [INFO] [1779393334.655260154] [rear.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1779393334.654696598] [front.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1779393334.655066680] [front.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-4] [INFO] [1779393334.655349018] [rear.zed_node]: * Local stream input: DISABLED [component_container_isolated-4] [INFO] [1779393334.655373082] [rear.zed_node]: === GENERAL parameters === [component_container_isolated-4] [INFO] [1779393334.655494235] [rear.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-4] [INFO] [1779393334.655621852] [rear.zed_node]: * Camera name: rear [component_container_isolated-4] [INFO] [1779393334.655740317] [rear.zed_node]: * Camera SN: 40483530 [component_container_isolated-2] [INFO] [1779393334.655483771] [front.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1779393334.655781085] [front.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-4] [INFO] [1779393334.655850205] [rear.zed_node]: * Camera ID: -1 [component_container_isolated-4] [INFO] [1779393334.655963870] [rear.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-4] [INFO] [1779393334.656079519] [rear.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-4] [INFO] [1779393334.656202271] [rear.zed_node]: * Camera framerate: 30 [component_container_isolated-4] [INFO] [1779393334.656331776] [rear.zed_node]: * GPU ID: -1 [component_container_isolated-4] [INFO] [1779393334.656639330] [rear.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-4] [INFO] [1779393334.656765571] [rear.zed_node]: * Image Validity Check: 1 [component_container_isolated-4] [INFO] [1779393334.656916964] [rear.zed_node]: * Camera resolution: HD1200 [component_container_isolated-4] [INFO] [1779393334.657043077] [rear.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-2] [INFO] [1779393334.656454529] [front.zed_node]: * Debug TF: FALSE [component_container_isolated-2] [INFO] [1779393334.656694594] [front.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1779393334.657084421] [front.zed_node]: * Debug GNSS: FALSE [component_container_isolated-4] [INFO] [1779393334.657161381] [rear.zed_node]: * OpenCV custom calibration: [component_container_isolated-4] [INFO] [1779393334.657270758] [rear.zed_node]: * Camera self calibration: TRUE [component_container_isolated-4] [INFO] [1779393334.657382407] [rear.zed_node]: * Camera flip: FALSE [component_container_isolated-4] [INFO] [1779393334.657538888] [rear.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.657654920] [rear.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-4] [INFO] [1779393334.658006091] [rear.zed_node]: === VIDEO parameters === [component_container_isolated-4] [INFO] [1779393334.658142891] [rear.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658248300] [rear.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658363693] [rear.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658478638] [rear.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658580750] [rear.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658684719] [rear.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658797648] [rear.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.658902256] [rear.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659015697] [rear.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659123538] [rear.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659239986] [rear.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659346131] [rear.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659442356] [rear.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659549780] [rear.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659651989] [rear.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659759062] [rear.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659866550] [rear.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.659973815] [rear.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.660073879] [rear.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.660101304] [rear.zed_node]: === DEPTH parameters === [component_container_isolated-4] [WARN] [1779393334.660974973] [rear.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-4] [WARN] [1779393334.661012381] [rear.zed_node]: Using default value: NEURAL [component_container_isolated-4] [INFO] [1779393334.661033341] [rear.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-4] [INFO] [1779393334.661215359] [rear.zed_node]: * Min depth [m]: 1 [component_container_isolated-4] [INFO] [1779393334.661337631] [rear.zed_node]: * Max depth [m]: 12 [component_container_isolated-2] [INFO] [1779393334.657430215] [front.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1779393334.657739785] [front.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1779393334.657956330] [front.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1779393334.658197708] [front.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1779393334.658627534] [front.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1779393334.659149330] [front.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1779393334.659582612] [front.zed_node]: * Debug Nitros: FALSE [component_container_isolated-2] [INFO] [1779393334.660013847] [front.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1779393334.660151032] [front.zed_node]: === TOPIC selection parameters === [component_container_isolated-2] [INFO] [1779393334.660384889] [front.zed_node]: * Publish Status: TRUE [component_container_isolated-2] [INFO] [1779393334.660598427] [front.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-2] [INFO] [1779393334.660832092] [front.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-2] [INFO] [1779393334.661102878] [front.zed_node]: * Publish Raw images: FALSE [component_container_isolated-8] [INFO] [1779393334.660525242] [right.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-8] [INFO] [1779393334.660585083] [right.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-4] [INFO] [1779393334.661460448] [rear.zed_node]: * Depth Stabilization: 20 [component_container_isolated-4] [INFO] [1779393334.661584353] [rear.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-4] [INFO] [1779393334.661704034] [rear.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-2] [INFO] [1779393334.661488352] [front.zed_node]: * Publish Gray images: FALSE [component_container_isolated-2] [INFO] [1779393334.661804610] [front.zed_node]: * Publish RGB image: TRUE [component_container_isolated-4] [INFO] [1779393334.661989091] [rear.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-4] [INFO] [1779393334.662278021] [rear.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.662110276] [front.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-2] [INFO] [1779393334.662383718] [front.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-2] [INFO] [1779393334.662629639] [front.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-2] [INFO] [1779393334.662971210] [front.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-2] [INFO] [1779393334.663858223] [front.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-4] [INFO] [1779393334.663010410] [rear.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.663466029] [rear.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.663518029] [rear.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-4] [INFO] [1779393334.664197521] [rear.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1779393334.664277746] [front.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-2] [INFO] [1779393334.664551091] [front.zed_node]: * Publish Disparity: FALSE [component_container_isolated-2] [INFO] [1779393334.664952470] [front.zed_node]: * Publish IMU: TRUE [component_container_isolated-4] [INFO] [1779393334.664690548] [rear.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-4] [INFO] [1779393334.664865621] [rear.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-4] [INFO] [1779393334.665096503] [rear.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-4] [INFO] [1779393334.665314200] [rear.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-4] [INFO] [1779393334.665517209] [rear.zed_node]: * Depth minimum range: 0 [component_container_isolated-4] [INFO] [1779393334.665768027] [rear.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.665951164] [rear.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.665359896] [front.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-2] [INFO] [1779393334.665801819] [front.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-4] [INFO] [1779393334.666160669] [rear.zed_node]: * Path history lenght: 50 [component_container_isolated-4] [INFO] [1779393334.666355967] [rear.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1779393334.666202686] [front.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-4] [INFO] [1779393334.666555968] [rear.zed_node]: * Area Memory: FALSE [component_container_isolated-2] [INFO] [1779393334.666618720] [front.zed_node]: * Publish Barometer: FALSE [component_container_isolated-2] [INFO] [1779393334.667690919] [front.zed_node]: * Publish Temperature: FALSE [component_container_isolated-4] [INFO] [1779393334.666721313] [rear.zed_node]: * Area Memory File: [component_container_isolated-4] [INFO] [1779393334.667018083] [rear.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-4] [INFO] [1779393334.667404261] [rear.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-4] [INFO] [1779393334.667602566] [rear.zed_node]: * Camera is static: FALSE [component_container_isolated-4] [INFO] [1779393334.667781351] [rear.zed_node]: * Gravity as origin: FALSE [component_container_isolated-4] [INFO] [1779393334.667948008] [rear.zed_node]: * IMU Fusion: FALSE [component_container_isolated-4] [INFO] [1779393334.668189002] [rear.zed_node]: * Floor Alignment: FALSE [component_container_isolated-4] [INFO] [1779393334.668378379] [rear.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1779393334.668429163] [front.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-4] [INFO] [1779393334.668749421] [rear.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-4] [INFO] [1779393334.668953615] [rear.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-2] [INFO] [1779393334.669078095] [front.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-4] [INFO] [1779393334.669208720] [rear.zed_node]: * 2D mode: FALSE [component_container_isolated-4] [INFO] [1779393334.669390385] [rear.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-4] [INFO] [1779393334.669432338] [rear.zed_node]: === GNSS FUSION parameters === [component_container_isolated-4] [INFO] [1779393334.669618515] [rear.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-4] [INFO] [1779393334.669658259] [rear.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-4] [INFO] [1779393334.669990677] [rear.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-4] [INFO] [1779393334.670545785] [rear.zed_node]: * Manual ROI polygon: [] [component_container_isolated-4] [INFO] [1779393334.670678937] [rear.zed_node]: === SENSORS STACK parameters === [component_container_isolated-4] [INFO] [1779393334.670888955] [rear.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-4] [INFO] [1779393334.671342686] [rear.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-4] [INFO] [1779393334.671567967] [rear.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.671609343] [rear.zed_node]: === Spatial Mapping parameters === [component_container_isolated-4] [INFO] [1779393334.671792640] [rear.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-4] [INFO] [1779393334.671977410] [rear.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-4] [INFO] [1779393334.672149347] [rear.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-4] [INFO] [1779393334.672358884] [rear.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.672654214] [rear.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-4] [INFO] [1779393334.673030760] [rear.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-4] [INFO] [1779393334.673229865] [rear.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1779393334.669477586] [front.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-2] [INFO] [1779393334.670053878] [front.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-2] [INFO] [1779393334.670348311] [front.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1779393334.670723290] [front.zed_node]: * SVO input: DISABLED [component_container_isolated-2] [INFO] [1779393334.670764506] [front.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1779393334.671348126] [front.zed_node]: * Local stream input: DISABLED [component_container_isolated-2] [INFO] [1779393334.671384350] [front.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1779393334.672442660] [front.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-2] [INFO] [1779393334.673399050] [front.zed_node]: * Camera name: front [component_container_isolated-2] [INFO] [1779393334.673931534] [front.zed_node]: * Camera SN: 41385721 [component_container_isolated-2] [INFO] [1779393334.674282160] [front.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1779393334.674956020] [front.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-4] [INFO] [1779393334.674143695] [rear.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-4] [INFO] [1779393334.674370832] [rear.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-4] [INFO] [1779393334.674611954] [rear.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-4] [INFO] [1779393334.674846739] [rear.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-4] [INFO] [1779393334.675044917] [rear.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-4] [INFO] [1779393334.675211958] [rear.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-4] [INFO] [1779393334.675460567] [rear.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-4] [INFO] [1779393334.675651576] [rear.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-4] [INFO] [1779393334.675822457] [rear.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.675741977] [front.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-4] [INFO] [1779393334.676021755] [rear.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.676202908] [rear.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.676386557] [rear.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.676259068] [front.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1779393334.676500670] [front.zed_node]: * GPU ID: -1 [component_container_isolated-4] [INFO] [1779393334.676611838] [rear.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.676830048] [rear.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.676776095] [front.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1779393334.676962529] [front.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1779393334.677441316] [front.zed_node]: * Camera resolution: HD1200 [component_container_isolated-2] [INFO] [1779393334.677586724] [front.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-4] [INFO] [1779393334.677280515] [rear.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.677486052] [rear.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.677716325] [front.zed_node]: * OpenCV custom calibration: [component_container_isolated-4] [INFO] [1779393334.677734405] [rear.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.677978663] [rear.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.677834630] [front.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1779393334.677935015] [front.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1779393334.678097128] [front.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.678216328] [front.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-2] [INFO] [1779393334.678257929] [front.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1779393334.678386953] [front.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.678623051] [front.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.678299305] [rear.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.678525706] [rear.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.678760940] [front.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.678881324] [front.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.678996045] [front.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679111982] [front.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.678822188] [rear.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.679161806] [rear.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679219759] [front.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679336143] [front.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.679262287] [rear.zed_node]: === Body Track. parameters === [component_container_isolated-4] [INFO] [1779393334.679483856] [rear.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-4] [INFO] [1779393334.679733682] [rear.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1779393334.679439376] [front.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679562769] [front.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679671473] [front.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679777330] [front.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.679889619] [front.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.679972339] [rear.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-4] [INFO] [1779393334.680180085] [rear.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1779393334.680019604] [front.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.680134644] [front.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.680291637] [front.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.680406070] [front.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.680508727] [front.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.680616727] [front.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.680647639] [front.zed_node]: === DEPTH parameters === [component_container_isolated-4] [INFO] [1779393334.680444694] [rear.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-4] [INFO] [1779393334.680673976] [rear.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [WARN] [1779393334.680820089] [front.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-2] [WARN] [1779393334.680865945] [front.zed_node]: Using default value: NEURAL [component_container_isolated-2] [INFO] [1779393334.680932953] [front.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-2] [INFO] [1779393334.681057498] [front.zed_node]: * Min depth [m]: 1 [component_container_isolated-2] [INFO] [1779393334.681178747] [front.zed_node]: * Max depth [m]: 12 [component_container_isolated-4] [INFO] [1779393334.680863225] [rear.zed_node]: * Body fitting: FALSE [component_container_isolated-4] [INFO] [1779393334.681062106] [rear.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1779393334.681301820] [front.zed_node]: * Depth Stabilization: 20 [component_container_isolated-4] [INFO] [1779393334.681270075] [rear.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1779393334.681419708] [front.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-2] [INFO] [1779393334.681533949] [front.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-2] [INFO] [1779393334.681648286] [front.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1779393334.681763774] [front.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.681639070] [rear.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.681812703] [rear.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.681853695] [rear.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-4] [INFO] [1779393334.682026144] [rear.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-4] [INFO] [1779393334.682248257] [rear.zed_node]: * Stream codec: H264 [component_container_isolated-4] [INFO] [1779393334.682470051] [rear.zed_node]: * Stream port: 30000 [component_container_isolated-4] [INFO] [1779393334.682697668] [rear.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1779393334.682173057] [front.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.682341410] [front.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.682382722] [front.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1779393334.682511747] [front.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1779393334.682656164] [front.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-2] [INFO] [1779393334.682778437] [front.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1779393334.682928518] [front.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-2] [INFO] [1779393334.683042822] [front.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-2] [INFO] [1779393334.683176359] [front.zed_node]: * Depth minimum range: 0 [component_container_isolated-4] [INFO] [1779393334.682912230] [rear.zed_node]: * Stream GOP size: -1 [component_container_isolated-4] [INFO] [1779393334.683088007] [rear.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1779393334.683285416] [front.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.683395625] [front.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393334.683333352] [rear.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-4] [INFO] [1779393334.683553514] [rear.zed_node]: * Target frame rate:0 [component_container_isolated-4] [INFO] [1779393334.683621994] [rear.zed_node]: === ADVANCED parameters === [component_container_isolated-4] [INFO] [1779393334.683800043] [rear.zed_node]: * Change thread priority: FALSE [component_container_isolated-2] [INFO] [1779393334.683501801] [front.zed_node]: * Path history lenght: 50 [component_container_isolated-2] [INFO] [1779393334.683624682] [front.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1779393334.683745451] [front.zed_node]: * Area Memory: FALSE [component_container_isolated-2] [INFO] [1779393334.683857995] [front.zed_node]: * Area Memory File: [component_container_isolated-2] [INFO] [1779393334.683966476] [front.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-2] [INFO] [1779393334.684078925] [front.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1779393334.684185837] [front.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1779393334.684328494] [front.zed_node]: * Gravity as origin: FALSE [component_container_isolated-4] [INFO] [1779393334.684006476] [rear.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1779393334.684452015] [front.zed_node]: * IMU Fusion: FALSE [component_container_isolated-2] [INFO] [1779393334.684558512] [front.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1779393334.684676145] [front.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1779393334.684808817] [front.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-2] [INFO] [1779393334.684922066] [front.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-2] [INFO] [1779393334.685249108] [front.zed_node]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [1779393334.685383413] [front.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1779393334.685428053] [front.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1779393334.685777207] [front.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1779393334.685820184] [front.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-2] [INFO] [1779393334.686032153] [front.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1779393334.686201146] [front.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1779393334.686233658] [front.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1779393334.686547516] [front.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1779393334.686719389] [front.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1779393334.686946463] [front.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.686987135] [front.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1779393334.687133312] [front.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1779393334.687252321] [front.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1779393334.687358657] [front.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-4] [INFO] [1779393334.687038399] [rear.zed_node]: * Advertised on service: '/rear/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1779393334.687846788] [front.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.687997189] [front.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1779393334.688360455] [front.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1779393334.688480168] [front.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1779393334.688586537] [front.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1779393334.688710026] [front.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1779393334.688817930] [front.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1779393334.688948683] [front.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1779393334.689058828] [front.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-4] [INFO] [1779393334.688659785] [rear.zed_node]: * Advertised on service: '/rear/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1779393334.689163436] [front.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1779393334.689317901] [front.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1779393334.689455278] [front.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1779393334.689581487] [front.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.689681104] [front.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.689782544] [front.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.689887185] [front.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.689982034] [front.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.690092498] [front.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.690190931] [front.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.690798647] [front.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691078168] [front.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691230553] [front.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691366810] [front.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691483867] [front.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691609532] [front.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691728444] [front.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.691771357] [front.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1779393334.691885213] [front.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1779393334.692023390] [front.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1779393334.692160735] [front.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1779393334.692426561] [front.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1779393334.692630210] [front.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1779393334.692857827] [front.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1779393334.692995364] [front.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1779393334.693331110] [front.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1779393334.693484519] [front.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1779393334.693608808] [front.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.693721065] [front.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393334.693750857] [front.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1779393334.693978410] [front.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1779393334.694105291] [front.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1779393334.694233068] [front.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1779393334.694339469] [front.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1779393334.694603438] [front.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1779393334.694744687] [front.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1779393334.694864944] [front.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1779393334.694986385] [front.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1779393334.695023729] [front.zed_node]: === ADVANCED parameters === [component_container_isolated-4] [INFO] [1779393334.691688188] [rear.zed_node]: * Advertised on service: '/rear/zed_node/set_pose' [component_container_isolated-4] [INFO] [1779393334.693384007] [rear.zed_node]: * Advertised on service: '/rear/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1779393334.695154898] [front.zed_node]: * Change thread priority: FALSE [component_container_isolated-2] [INFO] [1779393334.695247954] [front.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1779393334.696396505] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1779393334.697122526] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_pos_tracking' [component_container_isolated-4] [INFO] [1779393334.697508064] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1779393334.698875913] [front.zed_node]: * Advertised on service: '/front/zed_node/set_pose' [component_container_isolated-2] [INFO] [1779393334.699486157] [front.zed_node]: * Advertised on service: '/front/zed_node/save_area_memory' [component_container_isolated-4] [INFO] [1779393334.699247499] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1779393334.700628628] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1779393334.701168983] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1779393334.701682298] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1779393334.702236062] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1779393334.703018659] [front.zed_node]: * Advertised on service: '/front/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1779393334.703685607] [front.zed_node]: * Advertised on service: '/front/zed_node/stop_svo_rec' [component_container_isolated-4] [INFO] [1779393334.703953896] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1779393334.704422699] [front.zed_node]: * Advertised on service: '/front/zed_node/set_roi' [component_container_isolated-2] [INFO] [1779393334.704901550] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1779393334.704948559] [front.zed_node]: === STARTING CAMERA === [component_container_isolated-4] [INFO] [1779393334.705794548] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1779393334.706872859] [front.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-4] [INFO] [1779393334.707046364] [rear.zed_node]: * Advertised on service: '/rear/zed_node/start_svo_rec' [component_container_isolated-4] [INFO] [1779393334.708614981] [rear.zed_node]: * Advertised on service: '/rear/zed_node/stop_svo_rec' [component_container_isolated-4] [INFO] [1779393334.710055118] [rear.zed_node]: * Advertised on service: '/rear/zed_node/set_roi' [component_container_isolated-4] [INFO] [1779393334.711395703] [rear.zed_node]: * Advertised on service: '/rear/zed_node/reset_roi' [component_container_isolated-4] [INFO] [1779393334.711478551] [rear.zed_node]: === STARTING CAMERA === [component_container_isolated-4] [INFO] [1779393334.711840025] [rear.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-2] [INFO] [1779393334.714983501] [front.zed_node]: === CAMERA OPENING === [component_container_isolated-4] [INFO] [1779393334.721490773] [rear.zed_node]: === CAMERA OPENING === [component_container_isolated-6] [INFO] [1779393334.751788818] [left.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-6] [INFO] [1779393334.751897651] [left.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-8] [INFO] [1779393334.773679066] [right.zed_node]: ================================ [component_container_isolated-8] [INFO] [1779393334.773758875] [right.zed_node]: ZED Camera Component [component_container_isolated-8] [INFO] [1779393334.773775963] [right.zed_node]: ================================ [component_container_isolated-8] [INFO] [1779393334.773785723] [right.zed_node]: * IPC: disabled [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right/zed_node' in container '/right/zed_container' [component_container_isolated-8] [INFO] [1779393334.824005459] [right.zed_node]: * namespace: /right [component_container_isolated-8] [INFO] [1779393334.824111828] [right.zed_node]: * node name: zed_node [component_container_isolated-8] [INFO] [1779393334.824127444] [right.zed_node]: ================================ [component_container_isolated-8] [INFO] [1779393334.824138260] [right.zed_node]: Starting node initialization... [component_container_isolated-8] [INFO] [1779393334.824186612] [right.zed_node]: === DEBUG parameters === [component_container_isolated-8] [INFO] [1779393334.824483926] [right.zed_node]: * SDK Verbose: 0 [component_container_isolated-8] [INFO] [1779393334.824766872] [right.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-8] [INFO] [1779393334.824915833] [right.zed_node]: * SDK Verbose File: [component_container_isolated-8] [INFO] [1779393334.825026681] [right.zed_node]: * Debug Common: FALSE [component_container_isolated-8] [INFO] [1779393334.825127738] [right.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-8] [INFO] [1779393334.825219867] [right.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-8] [INFO] [1779393334.825321051] [right.zed_node]: * Debug Simulation: FALSE [component_container_isolated-8] [INFO] [1779393334.825531357] [right.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-8] [INFO] [1779393334.825671421] [right.zed_node]: * Debug Control settings: FALSE [component_container_isolated-8] [INFO] [1779393334.825786718] [right.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-8] [INFO] [1779393334.825886047] [right.zed_node]: * Debug TF: FALSE [component_container_isolated-8] [INFO] [1779393334.826001439] [right.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-8] [INFO] [1779393334.826101728] [right.zed_node]: * Debug GNSS: FALSE [component_container_isolated-8] [INFO] [1779393334.826197793] [right.zed_node]: * Debug sensors: FALSE [component_container_isolated-8] [INFO] [1779393334.826298273] [right.zed_node]: * Debug Mapping: FALSE [component_container_isolated-8] [INFO] [1779393334.826399426] [right.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-8] [INFO] [1779393334.826488962] [right.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-8] [INFO] [1779393334.826594755] [right.zed_node]: * Debug Streaming: FALSE [component_container_isolated-8] [INFO] [1779393334.826693348] [right.zed_node]: * Debug ROI: FALSE [component_container_isolated-8] [INFO] [1779393334.826790276] [right.zed_node]: * Debug Nitros: FALSE [component_container_isolated-8] [INFO] [1779393334.826891109] [right.zed_node]: * Debug Advanced: FALSE [component_container_isolated-8] [INFO] [1779393334.826934789] [right.zed_node]: === TOPIC selection parameters === [component_container_isolated-8] [INFO] [1779393334.827042054] [right.zed_node]: * Publish Status: TRUE [component_container_isolated-8] [INFO] [1779393334.827155111] [right.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-8] [INFO] [1779393334.827364840] [right.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-8] [INFO] [1779393334.827509865] [right.zed_node]: * Publish Raw images: FALSE [component_container_isolated-8] [INFO] [1779393334.827613257] [right.zed_node]: * Publish Gray images: FALSE [component_container_isolated-8] [INFO] [1779393334.827708394] [right.zed_node]: * Publish RGB image: TRUE [component_container_isolated-8] [INFO] [1779393334.827812715] [right.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-8] [INFO] [1779393334.827908971] [right.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-8] [INFO] [1779393334.828016556] [right.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-8] [INFO] [1779393334.828104333] [right.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-8] [INFO] [1779393334.828212461] [right.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-8] [INFO] [1779393334.828329198] [right.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-8] [INFO] [1779393334.828431087] [right.zed_node]: * Publish Disparity: FALSE [component_container_isolated-8] [INFO] [1779393334.828529551] [right.zed_node]: * Publish IMU: TRUE [component_container_isolated-8] [INFO] [1779393334.828624240] [right.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-8] [INFO] [1779393334.828721328] [right.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-8] [INFO] [1779393334.828811025] [right.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-8] [INFO] [1779393334.828899121] [right.zed_node]: * Publish Barometer: FALSE [component_container_isolated-8] [INFO] [1779393334.829071667] [right.zed_node]: * Publish Temperature: FALSE [component_container_isolated-8] [INFO] [1779393334.829178803] [right.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-8] [INFO] [1779393334.829270580] [right.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-8] [INFO] [1779393334.829372980] [right.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-8] [INFO] [1779393334.829464341] [right.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-8] [INFO] [1779393334.829800343] [right.zed_node]: === SVO INPUT parameters === [component_container_isolated-8] [INFO] [1779393334.829957880] [right.zed_node]: * SVO input: DISABLED [component_container_isolated-8] [INFO] [1779393334.829988664] [right.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-8] [INFO] [1779393334.830087673] [right.zed_node]: * Local stream input: DISABLED [component_container_isolated-8] [INFO] [1779393334.830116313] [right.zed_node]: === GENERAL parameters === [component_container_isolated-8] [INFO] [1779393334.830239642] [right.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-8] [INFO] [1779393334.830344826] [right.zed_node]: * Camera name: right [component_container_isolated-8] [INFO] [1779393334.830459515] [right.zed_node]: * Camera SN: 44036609 [component_container_isolated-8] [INFO] [1779393334.830562012] [right.zed_node]: * Camera ID: -1 [component_container_isolated-8] [INFO] [1779393334.830662588] [right.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-8] [INFO] [1779393334.830769725] [right.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-8] [INFO] [1779393334.830877502] [right.zed_node]: * Camera framerate: 30 [component_container_isolated-8] [INFO] [1779393334.830977438] [right.zed_node]: * GPU ID: -1 [component_container_isolated-8] [INFO] [1779393334.831074463] [right.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-8] [INFO] [1779393334.831190496] [right.zed_node]: * Image Validity Check: 1 [component_container_isolated-8] [INFO] [1779393334.831325377] [right.zed_node]: * Camera resolution: HD1200 [component_container_isolated-8] [INFO] [1779393334.831445377] [right.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-8] [INFO] [1779393334.831802884] [right.zed_node]: * OpenCV custom calibration: [component_container_isolated-8] [INFO] [1779393334.831950532] [right.zed_node]: * Camera self calibration: TRUE [component_container_isolated-8] [INFO] [1779393334.832079557] [right.zed_node]: * Camera flip: FALSE [component_container_isolated-8] [INFO] [1779393334.832249830] [right.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.832390695] [right.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-8] [INFO] [1779393334.832436871] [right.zed_node]: === VIDEO parameters === [component_container_isolated-8] [INFO] [1779393334.832563080] [right.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.832665897] [right.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.832764682] [right.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.832877994] [right.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.832989387] [right.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833089036] [right.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833191244] [right.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833288749] [right.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833391661] [right.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833489358] [right.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833603503] [right.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833698351] [right.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833795600] [right.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.833907441] [right.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.834003441] [right.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.834112530] [right.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.834207699] [right.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.834313523] [right.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.834409748] [right.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.834436276] [right.zed_node]: === DEPTH parameters === [component_container_isolated-8] [WARN] [1779393334.834578325] [right.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-8] [WARN] [1779393334.834615349] [right.zed_node]: Using default value: NEURAL [component_container_isolated-8] [INFO] [1779393334.834734070] [right.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-8] [INFO] [1779393334.834882551] [right.zed_node]: * Min depth [m]: 1 [component_container_isolated-8] [INFO] [1779393334.835013080] [right.zed_node]: * Max depth [m]: 12 [component_container_isolated-8] [INFO] [1779393334.835121688] [right.zed_node]: * Depth Stabilization: 20 [component_container_isolated-8] [INFO] [1779393334.835216889] [right.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-8] [INFO] [1779393334.835336250] [right.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-8] [INFO] [1779393334.835442042] [right.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-8] [INFO] [1779393334.835553787] [right.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.835647931] [right.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.835743932] [right.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.835779740] [right.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-8] [INFO] [1779393334.835880253] [right.zed_node]: * Map frame id: map [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left/zed_node' in container '/left/zed_container' [component_container_isolated-8] [INFO] [1779393334.835977118] [right.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-8] [INFO] [1779393334.836085246] [right.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-8] [INFO] [1779393334.836212543] [right.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-8] [INFO] [1779393334.836333856] [right.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-8] [INFO] [1779393334.836468385] [right.zed_node]: * Depth minimum range: 0 [component_container_isolated-8] [INFO] [1779393334.836572417] [right.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.836687106] [right.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.836782915] [right.zed_node]: * Path history lenght: 50 [component_container_isolated-8] [INFO] [1779393334.836899139] [right.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-8] [INFO] [1779393334.837004260] [right.zed_node]: * Area Memory: FALSE [component_container_isolated-8] [INFO] [1779393334.837113573] [right.zed_node]: * Area Memory File: [component_container_isolated-8] [INFO] [1779393334.837218053] [right.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-8] [INFO] [1779393334.837312710] [right.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-8] [INFO] [1779393334.837412134] [right.zed_node]: * Camera is static: FALSE [component_container_isolated-8] [INFO] [1779393334.837503463] [right.zed_node]: * Gravity as origin: FALSE [component_container_isolated-8] [INFO] [1779393334.837591080] [right.zed_node]: * IMU Fusion: FALSE [component_container_isolated-8] [INFO] [1779393334.837691848] [right.zed_node]: * Floor Alignment: FALSE [component_container_isolated-8] [INFO] [1779393334.837787209] [right.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-8] [INFO] [1779393334.837894857] [right.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-8] [INFO] [1779393334.838008970] [right.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-8] [INFO] [1779393334.838104587] [right.zed_node]: * 2D mode: FALSE [component_container_isolated-8] [INFO] [1779393334.838197131] [right.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-8] [INFO] [1779393334.838225387] [right.zed_node]: === GNSS FUSION parameters === [component_container_isolated-8] [INFO] [1779393334.838324876] [right.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-8] [INFO] [1779393334.838351596] [right.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-8] [INFO] [1779393334.838447693] [right.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-8] [INFO] [1779393334.838569358] [right.zed_node]: * Manual ROI polygon: [] [component_container_isolated-8] [INFO] [1779393334.838594670] [right.zed_node]: === SENSORS STACK parameters === [component_container_isolated-8] [INFO] [1779393334.838687342] [right.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-8] [INFO] [1779393334.838794895] [right.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-8] [INFO] [1779393334.838905136] [right.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.838929072] [right.zed_node]: === Spatial Mapping parameters === [component_container_isolated-8] [INFO] [1779393334.839029040] [right.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-8] [INFO] [1779393334.839131633] [right.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-8] [INFO] [1779393334.839234354] [right.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-8] [INFO] [1779393334.839350002] [right.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.839451987] [right.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-8] [INFO] [1779393334.839576916] [right.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-8] [INFO] [1779393334.839677749] [right.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-8] [INFO] [1779393334.839823093] [right.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-8] [INFO] [1779393334.839953462] [right.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-8] [INFO] [1779393334.840081047] [right.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-8] [INFO] [1779393334.840199960] [right.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-8] [INFO] [1779393334.840331321] [right.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-8] [INFO] [1779393334.841200350] [right.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-8] [INFO] [1779393334.841346431] [right.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-8] [INFO] [1779393334.841497728] [right.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-8] [INFO] [1779393334.841613505] [right.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.841724513] [right.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.841384863] [left.zed_node]: ================================ [component_container_isolated-6] [INFO] [1779393334.841533856] [left.zed_node]: ZED Camera Component [component_container_isolated-6] [INFO] [1779393334.841565664] [left.zed_node]: ================================ [component_container_isolated-6] [INFO] [1779393334.841658177] [left.zed_node]: * IPC: disabled [component_container_isolated-8] [INFO] [1779393334.842038883] [right.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842169380] [right.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842267045] [right.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842365477] [right.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842461670] [right.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842592807] [right.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842698695] [right.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842802056] [right.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.842918153] [right.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.843020105] [right.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.843123018] [right.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.843241195] [right.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.843279947] [right.zed_node]: === Body Track. parameters === [component_container_isolated-8] [INFO] [1779393334.843389388] [right.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-8] [INFO] [1779393334.843558669] [right.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-8] [INFO] [1779393334.843729102] [right.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-8] [INFO] [1779393334.843871023] [right.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-8] [INFO] [1779393334.843986095] [right.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-8] [INFO] [1779393334.844104208] [right.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-8] [INFO] [1779393334.844214993] [right.zed_node]: * Body fitting: FALSE [component_container_isolated-8] [INFO] [1779393334.844317329] [right.zed_node]: * Body joints tracking: TRUE [component_container_isolated-8] [INFO] [1779393334.844434226] [right.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-8] [INFO] [1779393334.844539731] [right.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.844650643] [right.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393334.844678004] [right.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-8] [INFO] [1779393334.844778932] [right.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-8] [INFO] [1779393334.844879317] [right.zed_node]: * Stream codec: H264 [component_container_isolated-8] [INFO] [1779393334.844987926] [right.zed_node]: * Stream port: 30000 [component_container_isolated-8] [INFO] [1779393334.845083190] [right.zed_node]: * Stream bitrate: 12500 [component_container_isolated-8] [INFO] [1779393334.845189111] [right.zed_node]: * Stream GOP size: -1 [component_container_isolated-8] [INFO] [1779393334.845282487] [right.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-8] [INFO] [1779393334.845379192] [right.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-8] [INFO] [1779393334.845493561] [right.zed_node]: * Target frame rate:0 [component_container_isolated-8] [INFO] [1779393334.845519833] [right.zed_node]: === ADVANCED parameters === [component_container_isolated-8] [INFO] [1779393334.845612921] [right.zed_node]: * Change thread priority: FALSE [component_container_isolated-8] [INFO] [1779393334.845710842] [right.zed_node]: === SERVICES === [component_container_isolated-8] [INFO] [1779393334.847166243] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_odometry' [component_container_isolated-8] [INFO] [1779393334.847786471] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_pos_tracking' [component_container_isolated-8] [INFO] [1779393334.849340337] [right.zed_node]: * Advertised on service: '/right/zed_node/set_pose' [component_container_isolated-8] [INFO] [1779393334.850061301] [right.zed_node]: * Advertised on service: '/right/zed_node/save_area_memory' [component_container_isolated-8] [INFO] [1779393334.851009499] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_obj_det' [component_container_isolated-8] [INFO] [1779393334.851585247] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_body_trk' [component_container_isolated-8] [INFO] [1779393334.852145698] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_mapping' [component_container_isolated-8] [INFO] [1779393334.853081864] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_streaming' [component_container_isolated-8] [INFO] [1779393334.853965581] [right.zed_node]: * Advertised on service: '/right/zed_node/start_svo_rec' [component_container_isolated-8] [INFO] [1779393334.854701938] [right.zed_node]: * Advertised on service: '/right/zed_node/stop_svo_rec' [component_container_isolated-8] [INFO] [1779393334.855756025] [right.zed_node]: * Advertised on service: '/right/zed_node/set_roi' [component_container_isolated-8] [INFO] [1779393334.856558398] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_roi' [component_container_isolated-8] [INFO] [1779393334.856610462] [right.zed_node]: === STARTING CAMERA === [component_container_isolated-8] [INFO] [1779393334.856802271] [right.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-8] [INFO] [1779393334.862986309] [right.zed_node]: === CAMERA OPENING === [component_container_isolated-6] [INFO] [1779393334.891920121] [left.zed_node]: * namespace: /left [component_container_isolated-6] [INFO] [1779393334.892005210] [left.zed_node]: * node name: zed_node [component_container_isolated-6] [INFO] [1779393334.892024026] [left.zed_node]: ================================ [component_container_isolated-6] [INFO] [1779393334.892035418] [left.zed_node]: Starting node initialization... [component_container_isolated-6] [INFO] [1779393334.892083450] [left.zed_node]: === DEBUG parameters === [component_container_isolated-6] [INFO] [1779393334.892371228] [left.zed_node]: * SDK Verbose: 0 [component_container_isolated-6] [INFO] [1779393334.892608894] [left.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-6] [INFO] [1779393334.892765823] [left.zed_node]: * SDK Verbose File: [component_container_isolated-6] [INFO] [1779393334.892898304] [left.zed_node]: * Debug Common: FALSE [component_container_isolated-6] [INFO] [1779393334.893021760] [left.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-6] [INFO] [1779393334.893136065] [left.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-6] [INFO] [1779393334.893244226] [left.zed_node]: * Debug Simulation: FALSE [component_container_isolated-6] [INFO] [1779393334.893347810] [left.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-6] [INFO] [1779393334.893450851] [left.zed_node]: * Debug Control settings: FALSE [component_container_isolated-6] [INFO] [1779393334.893558372] [left.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-6] [INFO] [1779393334.893664356] [left.zed_node]: * Debug TF: FALSE [component_container_isolated-6] [INFO] [1779393334.893770501] [left.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-6] [INFO] [1779393334.893873158] [left.zed_node]: * Debug GNSS: FALSE [component_container_isolated-6] [INFO] [1779393334.893996294] [left.zed_node]: * Debug sensors: FALSE [component_container_isolated-6] [INFO] [1779393334.894102343] [left.zed_node]: * Debug Mapping: FALSE [component_container_isolated-6] [INFO] [1779393334.894206088] [left.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-6] [INFO] [1779393334.894552010] [left.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-6] [INFO] [1779393334.894668715] [left.zed_node]: * Debug Streaming: FALSE [component_container_isolated-6] [INFO] [1779393334.894782603] [left.zed_node]: * Debug ROI: FALSE [component_container_isolated-6] [INFO] [1779393334.894888876] [left.zed_node]: * Debug Nitros: FALSE [component_container_isolated-6] [INFO] [1779393334.894981036] [left.zed_node]: * Debug Advanced: FALSE [component_container_isolated-6] [INFO] [1779393334.895027949] [left.zed_node]: === TOPIC selection parameters === [component_container_isolated-6] [INFO] [1779393334.895129965] [left.zed_node]: * Publish Status: TRUE [component_container_isolated-6] [INFO] [1779393334.895237806] [left.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-6] [INFO] [1779393334.895349135] [left.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-6] [INFO] [1779393334.895448015] [left.zed_node]: * Publish Raw images: FALSE [component_container_isolated-6] [INFO] [1779393334.895547184] [left.zed_node]: * Publish Gray images: FALSE [component_container_isolated-6] [INFO] [1779393334.895645233] [left.zed_node]: * Publish RGB image: TRUE [component_container_isolated-6] [INFO] [1779393334.895748849] [left.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-6] [INFO] [1779393334.895856690] [left.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-6] [INFO] [1779393334.895959347] [left.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-6] [INFO] [1779393334.896062643] [left.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-6] [INFO] [1779393334.896156916] [left.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-6] [INFO] [1779393334.896781688] [left.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-6] [INFO] [1779393334.896922873] [left.zed_node]: * Publish Disparity: FALSE [component_container_isolated-6] [INFO] [1779393334.897030361] [left.zed_node]: * Publish IMU: TRUE [component_container_isolated-6] [INFO] [1779393334.897138266] [left.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-6] [INFO] [1779393334.897237499] [left.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-6] [INFO] [1779393334.897339515] [left.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-6] [INFO] [1779393334.897438108] [left.zed_node]: * Publish Barometer: FALSE [component_container_isolated-6] [INFO] [1779393334.897531548] [left.zed_node]: * Publish Temperature: FALSE [component_container_isolated-6] [INFO] [1779393334.897698461] [left.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-6] [INFO] [1779393334.897796318] [left.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-6] [INFO] [1779393334.897897695] [left.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-6] [INFO] [1779393334.897995007] [left.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-6] [INFO] [1779393334.898107776] [left.zed_node]: === SVO INPUT parameters === [component_container_isolated-6] [INFO] [1779393334.898219745] [left.zed_node]: * SVO input: DISABLED [component_container_isolated-6] [INFO] [1779393334.898245953] [left.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-6] [INFO] [1779393334.898338305] [left.zed_node]: * Local stream input: DISABLED [component_container_isolated-6] [INFO] [1779393334.898358849] [left.zed_node]: === GENERAL parameters === [component_container_isolated-6] [INFO] [1779393334.898476930] [left.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-6] [INFO] [1779393334.898586307] [left.zed_node]: * Camera name: left [component_container_isolated-6] [INFO] [1779393334.898704612] [left.zed_node]: * Camera SN: 49440015 [component_container_isolated-6] [INFO] [1779393334.898807428] [left.zed_node]: * Camera ID: -1 [component_container_isolated-6] [INFO] [1779393334.898910021] [left.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-6] [INFO] [1779393334.899014534] [left.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-6] [INFO] [1779393334.899126694] [left.zed_node]: * Camera framerate: 30 [component_container_isolated-6] [INFO] [1779393334.899228999] [left.zed_node]: * GPU ID: -1 [component_container_isolated-6] [INFO] [1779393334.899332808] [left.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-6] [INFO] [1779393334.899432168] [left.zed_node]: * Image Validity Check: 1 [component_container_isolated-6] [INFO] [1779393334.899568041] [left.zed_node]: * Camera resolution: HD1200 [component_container_isolated-6] [INFO] [1779393334.899679786] [left.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-6] [INFO] [1779393334.899790922] [left.zed_node]: * OpenCV custom calibration: [component_container_isolated-6] [INFO] [1779393334.899901387] [left.zed_node]: * Camera self calibration: TRUE [component_container_isolated-6] [INFO] [1779393334.900000876] [left.zed_node]: * Camera flip: FALSE [component_container_isolated-6] [INFO] [1779393334.900152685] [left.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.900287277] [left.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-6] [INFO] [1779393334.900333582] [left.zed_node]: === VIDEO parameters === [component_container_isolated-6] [INFO] [1779393334.900449166] [left.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.900553999] [left.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.900660112] [left.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.900768432] [left.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.900868017] [left.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.900966674] [left.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901068210] [left.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901183155] [left.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901292436] [left.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901400852] [left.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901526261] [left.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901637142] [left.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901740695] [left.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901846423] [left.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.901959256] [left.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.902067513] [left.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.902171833] [left.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.902291002] [left.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.902400059] [left.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.902427419] [left.zed_node]: === DEPTH parameters === [component_container_isolated-6] [WARN] [1779393334.902581084] [left.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-6] [WARN] [1779393334.902616060] [left.zed_node]: Using default value: NEURAL [component_container_isolated-6] [INFO] [1779393334.902635740] [left.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-6] [INFO] [1779393334.902796605] [left.zed_node]: * Min depth [m]: 1 [component_container_isolated-6] [INFO] [1779393334.902951294] [left.zed_node]: * Max depth [m]: 12 [component_container_isolated-6] [INFO] [1779393334.903079871] [left.zed_node]: * Depth Stabilization: 20 [component_container_isolated-6] [INFO] [1779393334.903198848] [left.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-6] [INFO] [1779393334.903319968] [left.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-6] [INFO] [1779393334.903429185] [left.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-6] [INFO] [1779393334.903535074] [left.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.903641570] [left.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.903741731] [left.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.903768579] [left.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-6] [INFO] [1779393334.903878084] [left.zed_node]: * Map frame id: map [component_container_isolated-6] [INFO] [1779393334.903977540] [left.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-6] [INFO] [1779393334.904085221] [left.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-6] [INFO] [1779393334.904213606] [left.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-6] [INFO] [1779393334.904352359] [left.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-6] [INFO] [1779393334.904491112] [left.zed_node]: * Depth minimum range: 0 [component_container_isolated-6] [INFO] [1779393334.904604488] [left.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.904724041] [left.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.904832746] [left.zed_node]: * Path history lenght: 50 [component_container_isolated-6] [INFO] [1779393334.904957195] [left.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-6] [INFO] [1779393334.905071147] [left.zed_node]: * Area Memory: FALSE [component_container_isolated-6] [INFO] [1779393334.905167244] [left.zed_node]: * Area Memory File: [component_container_isolated-6] [INFO] [1779393334.905279149] [left.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-6] [INFO] [1779393334.905382093] [left.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-6] [INFO] [1779393334.905489070] [left.zed_node]: * Camera is static: FALSE [component_container_isolated-6] [INFO] [1779393334.905592558] [left.zed_node]: * Gravity as origin: FALSE [component_container_isolated-6] [INFO] [1779393334.905688943] [left.zed_node]: * IMU Fusion: FALSE [component_container_isolated-6] [INFO] [1779393334.905797744] [left.zed_node]: * Floor Alignment: FALSE [component_container_isolated-6] [INFO] [1779393334.905895920] [left.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-6] [INFO] [1779393334.906012017] [left.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-6] [INFO] [1779393334.906116178] [left.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-6] [INFO] [1779393334.906228658] [left.zed_node]: * 2D mode: FALSE [component_container_isolated-6] [INFO] [1779393334.906329235] [left.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-6] [INFO] [1779393334.906356211] [left.zed_node]: === GNSS FUSION parameters === [component_container_isolated-6] [INFO] [1779393334.906473012] [left.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-6] [INFO] [1779393334.906498580] [left.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-6] [INFO] [1779393334.906593685] [left.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-6] [INFO] [1779393334.906730966] [left.zed_node]: * Manual ROI polygon: [] [component_container_isolated-6] [INFO] [1779393334.906759350] [left.zed_node]: === SENSORS STACK parameters === [component_container_isolated-6] [INFO] [1779393334.906855894] [left.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-6] [INFO] [1779393334.906967255] [left.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-6] [INFO] [1779393334.907078328] [left.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.907104600] [left.zed_node]: === Spatial Mapping parameters === [component_container_isolated-6] [INFO] [1779393334.907220825] [left.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-6] [INFO] [1779393334.907336633] [left.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-6] [INFO] [1779393334.907445402] [left.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-6] [INFO] [1779393334.907550651] [left.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.907666715] [left.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-6] [INFO] [1779393334.907781148] [left.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-6] [INFO] [1779393334.907901021] [left.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-6] [INFO] [1779393334.907947389] [left.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-6] [INFO] [1779393334.908057086] [left.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-6] [INFO] [1779393334.908213055] [left.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-6] [INFO] [1779393334.908346848] [left.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-6] [INFO] [1779393334.908456352] [left.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-6] [INFO] [1779393334.908569057] [left.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-6] [INFO] [1779393334.908690146] [left.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-6] [INFO] [1779393334.908830627] [left.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-6] [INFO] [1779393334.908937763] [left.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909049796] [left.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909150053] [left.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909247301] [left.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909357510] [left.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909452134] [left.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909558023] [left.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909666376] [left.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909772072] [left.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909892585] [left.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.909996138] [left.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.910111883] [left.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.910215531] [left.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.910337036] [left.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.910376268] [left.zed_node]: === Body Track. parameters === [component_container_isolated-6] [INFO] [1779393334.910477101] [left.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-6] [INFO] [1779393334.910613806] [left.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-6] [INFO] [1779393334.910744111] [left.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-6] [INFO] [1779393334.910862191] [left.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-6] [INFO] [1779393334.910979312] [left.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-6] [INFO] [1779393334.911099793] [left.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-6] [INFO] [1779393334.911224081] [left.zed_node]: * Body fitting: FALSE [component_container_isolated-6] [INFO] [1779393334.911325618] [left.zed_node]: * Body joints tracking: TRUE [component_container_isolated-6] [INFO] [1779393334.911449107] [left.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-6] [INFO] [1779393334.911555060] [left.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.911660436] [left.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393334.911698932] [left.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-6] [INFO] [1779393334.911802741] [left.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-6] [INFO] [1779393334.911902390] [left.zed_node]: * Stream codec: H264 [component_container_isolated-6] [INFO] [1779393334.912017558] [left.zed_node]: * Stream port: 30000 [component_container_isolated-6] [INFO] [1779393334.912119191] [left.zed_node]: * Stream bitrate: 12500 [component_container_isolated-6] [INFO] [1779393334.912233848] [left.zed_node]: * Stream GOP size: -1 [component_container_isolated-6] [INFO] [1779393334.912887100] [left.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-6] [INFO] [1779393334.912996189] [left.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-6] [INFO] [1779393334.913128093] [left.zed_node]: * Target frame rate:0 [component_container_isolated-6] [INFO] [1779393334.913157854] [left.zed_node]: === ADVANCED parameters === [component_container_isolated-6] [INFO] [1779393334.913254014] [left.zed_node]: * Change thread priority: FALSE [component_container_isolated-6] [INFO] [1779393334.913347583] [left.zed_node]: === SERVICES === [component_container_isolated-6] [INFO] [1779393334.914312069] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_odometry' [component_container_isolated-6] [INFO] [1779393334.914785864] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_pos_tracking' [component_container_isolated-6] [INFO] [1779393334.916062032] [left.zed_node]: * Advertised on service: '/left/zed_node/set_pose' [component_container_isolated-6] [INFO] [1779393334.916522514] [left.zed_node]: * Advertised on service: '/left/zed_node/save_area_memory' [component_container_isolated-6] [INFO] [1779393334.917178167] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_obj_det' [component_container_isolated-6] [INFO] [1779393334.917505209] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_body_trk' [component_container_isolated-6] [INFO] [1779393334.917859387] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_mapping' [component_container_isolated-6] [INFO] [1779393334.918322206] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_streaming' [component_container_isolated-6] [INFO] [1779393334.918975234] [left.zed_node]: * Advertised on service: '/left/zed_node/start_svo_rec' [component_container_isolated-6] [INFO] [1779393334.919360868] [left.zed_node]: * Advertised on service: '/left/zed_node/stop_svo_rec' [component_container_isolated-6] [INFO] [1779393334.919908904] [left.zed_node]: * Advertised on service: '/left/zed_node/set_roi' [component_container_isolated-6] [INFO] [1779393334.920639660] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_roi' [component_container_isolated-6] [INFO] [1779393334.920696748] [left.zed_node]: === STARTING CAMERA === [component_container_isolated-6] [INFO] [1779393334.920953582] [left.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-6] [INFO] [1779393334.925280073] [left.zed_node]: === CAMERA OPENING === [component_container_isolated-2] [INFO] [1779393340.531116724] [front.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-2] [INFO] [1779393340.531235668] [front.zed_node]: * Camera Model -> ZED X [component_container_isolated-2] [INFO] [1779393340.531255765] [front.zed_node]: * Serial Number -> 41385721 [component_container_isolated-2] [INFO] [1779393340.531412598] [front.zed_node]: * Focal Length -> 3.81525 mm [component_container_isolated-2] [INFO] [1779393340.531450422] [front.zed_node]: * Input -> GMSL [component_container_isolated-2] [INFO] [1779393340.531471798] [front.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-2] [INFO] [1779393340.531485846] [front.zed_node]: * Sensors FW Version -> 1000 [component_container_isolated-2] [INFO] [1779393340.531502070] [front.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-2] [INFO] [1779393340.531515446] [front.zed_node]: * Color/Depth publishing size -> 1920x1200 [component_container_isolated-2] [INFO] [1779393340.531528886] [front.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-2] [INFO] [1779393340.531561270] [front.zed_node]: === TF FRAMES === [component_container_isolated-2] [INFO] [1779393340.531577847] [front.zed_node]: * Map -> map [component_container_isolated-2] [INFO] [1779393340.531590007] [front.zed_node]: * Odometry -> /zed/odom [component_container_isolated-2] [INFO] [1779393340.531601335] [front.zed_node]: * Base -> front_camera_link [component_container_isolated-2] [INFO] [1779393340.531611991] [front.zed_node]: * Camera -> front_camera_center [component_container_isolated-2] [INFO] [1779393340.531623607] [front.zed_node]: * Left -> front_left_camera_frame [component_container_isolated-2] [INFO] [1779393340.531634231] [front.zed_node]: * Left Optical -> front_left_camera_frame_optical [component_container_isolated-2] [INFO] [1779393340.531644855] [front.zed_node]: * Right -> front_right_camera_frame [component_container_isolated-2] [INFO] [1779393340.531655095] [front.zed_node]: * Right Optical -> front_right_camera_frame_optical [component_container_isolated-2] [INFO] [1779393340.531665623] [front.zed_node]: * Depth -> front_left_camera_frame [component_container_isolated-2] [INFO] [1779393340.531675895] [front.zed_node]: * Depth Optical -> front_left_camera_frame_optical [component_container_isolated-2] [INFO] [1779393340.531692887] [front.zed_node]: * Point Cloud -> front_left_camera_frame [component_container_isolated-2] [INFO] [1779393340.531705143] [front.zed_node]: * IMU -> front_imu_link [component_container_isolated-2] [INFO] [1779393340.531749432] [front.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-2] [INFO] [1779393340.533740804] [front.zed_node]: * Advertised on topic: /front/zed_node/status/health [component_container_isolated-2] [INFO] [1779393340.535296110] [front.zed_node]: * Advertised on topic: /front/zed_node/status/heartbeat [component_container_isolated-2] [INFO] [1779393340.536569174] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image [IPC type-adapted zero-copy] [component_container_isolated-6] FileLocker - Thread 281472409659616 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-2] [INFO] [1779393340.741676367] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image [component_container_isolated-2] [INFO] [1779393340.741783311] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-2] [INFO] [1779393340.741806351] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-2] [INFO] [1779393340.745727304] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/camera_info [component_container_isolated-2] [INFO] [1779393340.749071805] [front.zed_node]: * Advertised on topic: /front/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-2] [INFO] [1779393340.751895502] [front.zed_node]: * Advertised on topic: /front/zed_node/pose [component_container_isolated-2] [INFO] [1779393340.754885409] [front.zed_node]: * Advertised on topic: /front/zed_node/pose_with_covariance [component_container_isolated-2] [INFO] [1779393340.758059764] [front.zed_node]: * Advertised on topic: /front/zed_node/pose/status [component_container_isolated-2] [INFO] [1779393340.763001747] [front.zed_node]: * Advertised on topic: /front/zed_node/odom [component_container_isolated-2] [INFO] [1779393340.765202977] [front.zed_node]: * Advertised on topic: /front/zed_node/path_map [component_container_isolated-2] [INFO] [1779393340.766906699] [front.zed_node]: * Advertised on topic: /front/zed_node/path_odom [component_container_isolated-2] [INFO] [1779393340.768589718] [front.zed_node]: * Advertised on topic: /front/zed_node/imu/data [component_container_isolated-2] [INFO] [1779393340.768670806] [front.zed_node]: Camera-IMU Translation: [component_container_isolated-2] 0 -0.035649 -0.000147 [component_container_isolated-2] [INFO] [1779393340.768735287] [front.zed_node]: Camera-IMU Rotation: [component_container_isolated-2] FFFF49FBBF28 [component_container_isolated-2] 0.999981 -0.006154 -0.000560 [component_container_isolated-2] 0.006151 0.999970 -0.004792 [component_container_isolated-2] 0.000590 0.004789 0.999988 [component_container_isolated-2] [component_container_isolated-2] [INFO] [1779393340.769033496] [front.zed_node]: === Subscribers === [component_container_isolated-2] [INFO] [1779393340.770882116] [front.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-2] [INFO] [1779393340.868805636] [front.zed_node]: === front started === [component_container_isolated-2] [INFO] [1779393340.876775989] [front.zed_node]: === Starting Positional Tracking === [component_container_isolated-2] [INFO] [1779393340.876941494] [front.zed_node]: * Waiting for valid static transformations... [component_container_isolated-2] [INFO] [1779393340.877166872] [front.zed_node]: Static transform ref. CMOS Sensor to Base [front_left_camera_frame -> front_camera_link] [component_container_isolated-2] [INFO] [1779393340.877204472] [front.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-2] [INFO] [1779393340.877227768] [front.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1779393340.877261240] [front.zed_node]: Static transform ref. CMOS Sensor to Camera Center [front_left_camera_frame -> front_camera_center] [component_container_isolated-2] [INFO] [1779393340.877284120] [front.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-2] [INFO] [1779393340.877301688] [front.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1779393340.877351161] [front.zed_node]: Static transform Camera Center to Base [front_camera_center -> front_camera_link] [component_container_isolated-2] [INFO] [1779393340.877370265] [front.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-2] [INFO] [1779393340.877384921] [front.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-2] [INFO] [1779393340.878530752] [front.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-2] [INFO] [1779393340.878572288] [front.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-2] [INFO] [1779393340.878673153] [front.zed_node]: * Q: [0,0,0,1] [component_container_isolated-4] FileLocker - Thread 281472652732640 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-8] FileLocker - Thread 281472493676768 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-8] [INFO] [1779393353.114466854] [right.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-8] [INFO] [1779393353.114583303] [right.zed_node]: * Camera Model -> ZED X [component_container_isolated-8] [INFO] [1779393353.114603271] [right.zed_node]: * Serial Number -> 44036609 [component_container_isolated-8] [INFO] [1779393353.114752456] [right.zed_node]: * Focal Length -> 2.20909 mm [component_container_isolated-8] [INFO] [1779393353.114790472] [right.zed_node]: * Input -> GMSL [component_container_isolated-8] [INFO] [1779393353.114813384] [right.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-8] [INFO] [1779393353.114828265] [right.zed_node]: * Sensors FW Version -> 1000 [component_container_isolated-8] [INFO] [1779393353.114844393] [right.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-8] [INFO] [1779393353.114856457] [right.zed_node]: * Color/Depth publishing size -> 1920x1200 [component_container_isolated-8] [INFO] [1779393353.114868009] [right.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-8] [INFO] [1779393353.114899529] [right.zed_node]: === TF FRAMES === [component_container_isolated-8] [INFO] [1779393353.114915945] [right.zed_node]: * Map -> map [component_container_isolated-8] [INFO] [1779393353.114927689] [right.zed_node]: * Odometry -> /zed/odom [component_container_isolated-8] [INFO] [1779393353.114938569] [right.zed_node]: * Base -> right_camera_link [component_container_isolated-8] [INFO] [1779393353.114948745] [right.zed_node]: * Camera -> right_camera_center [component_container_isolated-8] [INFO] [1779393353.114959593] [right.zed_node]: * Left -> right_left_camera_frame [component_container_isolated-8] [INFO] [1779393353.114969961] [right.zed_node]: * Left Optical -> right_left_camera_frame_optical [component_container_isolated-8] [INFO] [1779393353.114980490] [right.zed_node]: * Right -> right_right_camera_frame [component_container_isolated-8] [INFO] [1779393353.114990410] [right.zed_node]: * Right Optical -> right_right_camera_frame_optical [component_container_isolated-8] [INFO] [1779393353.115001034] [right.zed_node]: * Depth -> right_left_camera_frame [component_container_isolated-8] [INFO] [1779393353.115020138] [right.zed_node]: * Depth Optical -> right_left_camera_frame_optical [component_container_isolated-8] [INFO] [1779393353.115031690] [right.zed_node]: * Point Cloud -> right_left_camera_frame [component_container_isolated-8] [INFO] [1779393353.115042122] [right.zed_node]: * IMU -> right_imu_link [component_container_isolated-8] [INFO] [1779393353.115085610] [right.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-8] [INFO] [1779393353.118204605] [right.zed_node]: * Advertised on topic: /right/zed_node/status/health [component_container_isolated-8] [INFO] [1779393353.120507404] [right.zed_node]: * Advertised on topic: /right/zed_node/status/heartbeat [component_container_isolated-8] [INFO] [1779393353.121856788] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image [IPC type-adapted zero-copy] [component_container_isolated-6] [INFO] [1779393353.172168907] [left.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-6] [INFO] [1779393353.172365676] [left.zed_node]: * Camera Model -> ZED X [component_container_isolated-6] [INFO] [1779393353.172391244] [left.zed_node]: * Serial Number -> 49440015 [component_container_isolated-6] [INFO] [1779393353.172532525] [left.zed_node]: * Focal Length -> 2.20837 mm [component_container_isolated-6] [INFO] [1779393353.172570733] [left.zed_node]: * Input -> GMSL [component_container_isolated-6] [INFO] [1779393353.172591630] [left.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-6] [INFO] [1779393353.172617966] [left.zed_node]: * Sensors FW Version -> 1000 [component_container_isolated-6] [INFO] [1779393353.172636046] [left.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-6] [INFO] [1779393353.172648878] [left.zed_node]: * Color/Depth publishing size -> 1920x1200 [component_container_isolated-6] [INFO] [1779393353.172661070] [left.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-6] [INFO] [1779393353.172683182] [left.zed_node]: === TF FRAMES === [component_container_isolated-6] [INFO] [1779393353.172696654] [left.zed_node]: * Map -> map [component_container_isolated-6] [INFO] [1779393353.172708974] [left.zed_node]: * Odometry -> /zed/odom [component_container_isolated-6] [INFO] [1779393353.172729998] [left.zed_node]: * Base -> left_camera_link [component_container_isolated-6] [INFO] [1779393353.172742607] [left.zed_node]: * Camera -> left_camera_center [component_container_isolated-6] [INFO] [1779393353.172753327] [left.zed_node]: * Left -> left_left_camera_frame [component_container_isolated-6] [INFO] [1779393353.172763855] [left.zed_node]: * Left Optical -> left_left_camera_frame_optical [component_container_isolated-6] [INFO] [1779393353.172775023] [left.zed_node]: * Right -> left_right_camera_frame [component_container_isolated-6] [INFO] [1779393353.172784975] [left.zed_node]: * Right Optical -> left_right_camera_frame_optical [component_container_isolated-6] [INFO] [1779393353.172795599] [left.zed_node]: * Depth -> left_left_camera_frame [component_container_isolated-6] [INFO] [1779393353.172806255] [left.zed_node]: * Depth Optical -> left_left_camera_frame_optical [component_container_isolated-6] [INFO] [1779393353.172816335] [left.zed_node]: * Point Cloud -> left_left_camera_frame [component_container_isolated-6] [INFO] [1779393353.172826895] [left.zed_node]: * IMU -> left_imu_link [component_container_isolated-6] [INFO] [1779393353.172866383] [left.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-6] [INFO] [1779393353.175960034] [left.zed_node]: * Advertised on topic: /left/zed_node/status/health [component_container_isolated-6] [INFO] [1779393353.178355601] [left.zed_node]: * Advertised on topic: /left/zed_node/status/heartbeat [component_container_isolated-6] [INFO] [1779393353.180054972] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image [IPC type-adapted zero-copy] [component_container_isolated-8] [INFO] [1779393353.259611847] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image [component_container_isolated-8] [INFO] [1779393353.259719080] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-8] [INFO] [1779393353.259741512] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-8] [INFO] [1779393353.263517376] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/camera_info [component_container_isolated-8] [INFO] [1779393353.266581650] [right.zed_node]: * Advertised on topic: /right/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-8] [INFO] [1779393353.269739910] [right.zed_node]: * Advertised on topic: /right/zed_node/pose [component_container_isolated-8] [INFO] [1779393353.272783257] [right.zed_node]: * Advertised on topic: /right/zed_node/pose_with_covariance [component_container_isolated-8] [INFO] [1779393353.275806987] [right.zed_node]: * Advertised on topic: /right/zed_node/pose/status [component_container_isolated-8] [INFO] [1779393353.279744036] [right.zed_node]: * Advertised on topic: /right/zed_node/odom [component_container_isolated-8] [INFO] [1779393353.283393338] [right.zed_node]: * Advertised on topic: /right/zed_node/path_map [component_container_isolated-8] [INFO] [1779393353.286625038] [right.zed_node]: * Advertised on topic: /right/zed_node/path_odom [component_container_isolated-8] [INFO] [1779393353.289942755] [right.zed_node]: * Advertised on topic: /right/zed_node/imu/data [component_container_isolated-8] [INFO] [1779393353.290026147] [right.zed_node]: Camera-IMU Translation: [component_container_isolated-8] 0 -0.035649 -0.000147 [component_container_isolated-8] [INFO] [1779393353.290088868] [right.zed_node]: Camera-IMU Rotation: [component_container_isolated-8] FFFF6BFFBF28 [component_container_isolated-8] 0.999980 -0.006363 -0.000502 [component_container_isolated-8] 0.006363 0.999980 -0.000539 [component_container_isolated-8] 0.000506 0.000536 1.000000 [component_container_isolated-8] [component_container_isolated-8] [INFO] [1779393353.290125988] [right.zed_node]: === Subscribers === [component_container_isolated-8] [INFO] [1779393353.293778139] [right.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-6] [INFO] [1779393353.334087124] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image [component_container_isolated-6] [INFO] [1779393353.336431170] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-6] [INFO] [1779393353.339127411] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-6] [INFO] [1779393353.342002565] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/camera_info [component_container_isolated-6] [INFO] [1779393353.345015447] [left.zed_node]: * Advertised on topic: /left/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-6] [INFO] [1779393353.348189771] [left.zed_node]: * Advertised on topic: /left/zed_node/pose [component_container_isolated-6] [INFO] [1779393353.351780833] [left.zed_node]: * Advertised on topic: /left/zed_node/pose_with_covariance [component_container_isolated-6] [INFO] [1779393353.354040879] [left.zed_node]: * Advertised on topic: /left/zed_node/pose/status [component_container_isolated-6] [INFO] [1779393353.356712831] [left.zed_node]: * Advertised on topic: /left/zed_node/odom [component_container_isolated-6] [INFO] [1779393353.358817324] [left.zed_node]: * Advertised on topic: /left/zed_node/path_map [component_container_isolated-6] [INFO] [1779393353.360716856] [left.zed_node]: * Advertised on topic: /left/zed_node/path_odom [component_container_isolated-6] [INFO] [1779393353.362731365] [left.zed_node]: * Advertised on topic: /left/zed_node/imu/data [component_container_isolated-6] [INFO] [1779393353.362819429] [left.zed_node]: Camera-IMU Translation: [component_container_isolated-6] 0 -0.035649 -0.000147 [component_container_isolated-6] [INFO] [1779393353.362877478] [left.zed_node]: Camera-IMU Rotation: [component_container_isolated-6] FFFF66FDBF28 [component_container_isolated-6] 0.999995 0.001573 0.002688 [component_container_isolated-6] -0.001571 0.999999 -0.000736 [component_container_isolated-6] -0.002689 0.000732 0.999996 [component_container_isolated-6] [component_container_isolated-6] [INFO] [1779393353.362918502] [left.zed_node]: === Subscribers === [component_container_isolated-6] [INFO] [1779393353.364690193] [left.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-8] [INFO] [1779393353.418586942] [right.zed_node]: === right started === [component_container_isolated-8] [INFO] [1779393353.430622568] [right.zed_node]: === Starting Positional Tracking === [component_container_isolated-8] [INFO] [1779393353.430804841] [right.zed_node]: * Waiting for valid static transformations... [component_container_isolated-8] [INFO] [1779393353.430979850] [right.zed_node]: Static transform ref. CMOS Sensor to Base [right_left_camera_frame -> right_camera_link] [component_container_isolated-8] [INFO] [1779393353.431016395] [right.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-8] [INFO] [1779393353.431039211] [right.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-8] [INFO] [1779393353.431075531] [right.zed_node]: Static transform ref. CMOS Sensor to Camera Center [right_left_camera_frame -> right_camera_center] [component_container_isolated-8] [INFO] [1779393353.431093323] [right.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-8] [INFO] [1779393353.431106571] [right.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-8] [INFO] [1779393353.431140907] [right.zed_node]: Static transform Camera Center to Base [right_camera_center -> right_camera_link] [component_container_isolated-8] [INFO] [1779393353.431156812] [right.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-8] [INFO] [1779393353.431169356] [right.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-8] [INFO] [1779393353.432258322] [right.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-8] [INFO] [1779393353.432299859] [right.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-8] [INFO] [1779393353.432322483] [right.zed_node]: * Q: [0,0,0,1] [component_container_isolated-6] [INFO] [1779393353.457685199] [left.zed_node]: === left started === [component_container_isolated-6] [INFO] [1779393353.460390784] [left.zed_node]: === Starting Positional Tracking === [component_container_isolated-6] [INFO] [1779393353.460531841] [left.zed_node]: * Waiting for valid static transformations... [component_container_isolated-6] [INFO] [1779393353.460698466] [left.zed_node]: Static transform ref. CMOS Sensor to Base [left_left_camera_frame -> left_camera_link] [component_container_isolated-6] [INFO] [1779393353.460735778] [left.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-6] [INFO] [1779393353.460757026] [left.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-6] [INFO] [1779393353.460791491] [left.zed_node]: Static transform ref. CMOS Sensor to Camera Center [left_left_camera_frame -> left_camera_center] [component_container_isolated-6] [INFO] [1779393353.460845859] [left.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-6] [INFO] [1779393353.460865507] [left.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-6] [INFO] [1779393353.460907267] [left.zed_node]: Static transform Camera Center to Base [left_camera_center -> left_camera_link] [component_container_isolated-6] [INFO] [1779393353.460926660] [left.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-6] [INFO] [1779393353.460942180] [left.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-6] [INFO] [1779393353.462049578] [left.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-6] [INFO] [1779393353.462072971] [left.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-6] [INFO] [1779393353.462092555] [left.zed_node]: * Q: [0,0,0,1] [component_container_isolated-4] [INFO] [1779393354.045676513] [rear.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-4] [INFO] [1779393354.045796546] [rear.zed_node]: * Camera Model -> ZED X [component_container_isolated-4] [INFO] [1779393354.045818722] [rear.zed_node]: * Serial Number -> 40483530 [component_container_isolated-4] [INFO] [1779393354.045971587] [rear.zed_node]: * Focal Length -> 2.20477 mm [component_container_isolated-4] [INFO] [1779393354.046012611] [rear.zed_node]: * Input -> GMSL [component_container_isolated-4] [INFO] [1779393354.046033987] [rear.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-4] [INFO] [1779393354.046047684] [rear.zed_node]: * Sensors FW Version -> 1000 [component_container_isolated-4] [INFO] [1779393354.046073252] [rear.zed_node]: * Camera grab size -> 1920x1200 [component_container_isolated-4] [INFO] [1779393354.046088324] [rear.zed_node]: * Color/Depth publishing size -> 1920x1200 [component_container_isolated-4] [INFO] [1779393354.046100292] [rear.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-4] [INFO] [1779393354.046125124] [rear.zed_node]: === TF FRAMES === [component_container_isolated-4] [INFO] [1779393354.046138340] [rear.zed_node]: * Map -> map [component_container_isolated-4] [INFO] [1779393354.046149476] [rear.zed_node]: * Odometry -> /zed/odom [component_container_isolated-4] [INFO] [1779393354.046167460] [rear.zed_node]: * Base -> rear_camera_link [component_container_isolated-4] [INFO] [1779393354.046179204] [rear.zed_node]: * Camera -> rear_camera_center [component_container_isolated-4] [INFO] [1779393354.046190116] [rear.zed_node]: * Left -> rear_left_camera_frame [component_container_isolated-4] [INFO] [1779393354.046200100] [rear.zed_node]: * Left Optical -> rear_left_camera_frame_optical [component_container_isolated-4] [INFO] [1779393354.046210085] [rear.zed_node]: * Right -> rear_right_camera_frame [component_container_isolated-4] [INFO] [1779393354.046220325] [rear.zed_node]: * Right Optical -> rear_right_camera_frame_optical [component_container_isolated-4] [INFO] [1779393354.046230117] [rear.zed_node]: * Depth -> rear_left_camera_frame [component_container_isolated-4] [INFO] [1779393354.046239749] [rear.zed_node]: * Depth Optical -> rear_left_camera_frame_optical [component_container_isolated-4] [INFO] [1779393354.046257445] [rear.zed_node]: * Point Cloud -> rear_left_camera_frame [component_container_isolated-4] [INFO] [1779393354.046269029] [rear.zed_node]: * IMU -> rear_imu_link [component_container_isolated-4] [INFO] [1779393354.046312709] [rear.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-4] [INFO] [1779393354.047343596] [rear.zed_node]: * Advertised on topic: /rear/zed_node/status/health [component_container_isolated-4] [INFO] [1779393354.050723264] [rear.zed_node]: * Advertised on topic: /rear/zed_node/status/heartbeat [component_container_isolated-4] [INFO] [1779393354.052116361] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image [IPC type-adapted zero-copy] [component_container_isolated-4] [INFO] [1779393354.173041364] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image [component_container_isolated-4] [INFO] [1779393354.174576350] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-4] [INFO] [1779393354.175222338] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-4] [INFO] [1779393354.178308245] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/camera_info [component_container_isolated-4] [INFO] [1779393354.181409192] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-4] [INFO] [1779393354.184586331] [rear.zed_node]: * Advertised on topic: /rear/zed_node/pose [component_container_isolated-4] [INFO] [1779393354.187690415] [rear.zed_node]: * Advertised on topic: /rear/zed_node/pose_with_covariance [component_container_isolated-4] [INFO] [1779393354.190793954] [rear.zed_node]: * Advertised on topic: /rear/zed_node/pose/status [component_container_isolated-4] [INFO] [1779393354.194380728] [rear.zed_node]: * Advertised on topic: /rear/zed_node/odom [component_container_isolated-4] [INFO] [1779393354.197542764] [rear.zed_node]: * Advertised on topic: /rear/zed_node/path_map [component_container_isolated-4] [INFO] [1779393354.200545566] [rear.zed_node]: * Advertised on topic: /rear/zed_node/path_odom [component_container_isolated-4] [INFO] [1779393354.203091822] [rear.zed_node]: * Advertised on topic: /rear/zed_node/imu/data [component_container_isolated-4] [INFO] [1779393354.203201134] [rear.zed_node]: Camera-IMU Translation: [component_container_isolated-4] 0 -0.035649 -0.000147 [component_container_isolated-4] [INFO] [1779393354.203260431] [rear.zed_node]: Camera-IMU Rotation: [component_container_isolated-4] FFFF757ABF28 [component_container_isolated-4] 0.999921 0.001340 0.012508 [component_container_isolated-4] -0.001246 0.999971 -0.007463 [component_container_isolated-4] -0.012518 0.007447 0.999894 [component_container_isolated-4] [component_container_isolated-4] [INFO] [1779393354.203299375] [rear.zed_node]: === Subscribers === [component_container_isolated-4] [INFO] [1779393354.205150234] [rear.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-4] [INFO] [1779393354.288479901] [rear.zed_node]: === rear started === [component_container_isolated-4] [INFO] [1779393354.291394255] [rear.zed_node]: === Starting Positional Tracking === [component_container_isolated-4] [INFO] [1779393354.291516752] [rear.zed_node]: * Waiting for valid static transformations... [component_container_isolated-4] [INFO] [1779393354.291669585] [rear.zed_node]: Static transform ref. CMOS Sensor to Base [rear_left_camera_frame -> rear_camera_link] [component_container_isolated-4] [INFO] [1779393354.291700145] [rear.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-4] [INFO] [1779393354.291718225] [rear.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-4] [INFO] [1779393354.291756530] [rear.zed_node]: Static transform ref. CMOS Sensor to Camera Center [rear_left_camera_frame -> rear_camera_center] [component_container_isolated-4] [INFO] [1779393354.291777554] [rear.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-4] [INFO] [1779393354.291792434] [rear.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-4] [INFO] [1779393354.291829138] [rear.zed_node]: Static transform Camera Center to Base [rear_camera_center -> rear_camera_link] [component_container_isolated-4] [INFO] [1779393354.291849266] [rear.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-4] [INFO] [1779393354.291862098] [rear.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-4] [INFO] [1779393354.292959673] [rear.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-4] [INFO] [1779393354.292997625] [rear.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-4] [INFO] [1779393354.293020025] [rear.zed_node]: * Q: [0,0,0,1] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container_isolated-6] [INFO] [1779393677.374138380] [rclcpp]: signal_handler(SIGINT/SIGTERM) [INFO] [robot_state_publisher-7]: process has finished cleanly [pid 6732] [INFO] [svo_controller-9]: process has finished cleanly [pid 6736] [INFO] [robot_state_publisher-5]: process has finished cleanly [pid 6728] [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 6720] [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 6724] [component_container_isolated-2] [INFO] [1779393677.374168268] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-5] [INFO] [1779393677.374173260] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-3] [INFO] [1779393677.374171884] [rclcpp]: signal_handler(SIGINT/SIGTERM) [svo_controller-9] [INFO] [1779393677.374170124] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-1] [INFO] [1779393677.374232973] [rclcpp]: signal_handler(SIGINT/SIGTERM) [component_container_isolated-8] [INFO] [1779393677.374616463] [rclcpp]: signal_handler(SIGINT/SIGTERM) [component_container_isolated-8] [INFO] [1779393677.463760618] [right.zed_node]: === CLOSING CAMERA === [component_container_isolated-4] [INFO] [1779393677.374638287] [rclcpp]: signal_handler(SIGINT/SIGTERM) [component_container_isolated-4] [INFO] [1779393677.835932593] [rear.zed_node]: === CLOSING CAMERA === [robot_state_publisher-7] [INFO] [1779393677.375629109] [rclcpp]: signal_handler(SIGINT/SIGTERM) [component_container_isolated-2] [INFO] [1779393677.413344171] [front.zed_node]: === CLOSING CAMERA === [component_container_isolated-6] [INFO] [1779393677.503875247] [left.zed_node]: === CLOSING CAMERA === [component_container_isolated-6] [INFO] [1779393678.617886804] [left.zed_node]: === CAMERA CLOSED === [component_container_isolated-8] [INFO] [1779393678.618803577] [right.zed_node]: === CAMERA CLOSED === [component_container_isolated-2] [INFO] [1779393678.620104353] [front.zed_node]: === CAMERA CLOSED === [component_container_isolated-4] [INFO] [1779393679.050027440] [rear.zed_node]: === CAMERA CLOSED === [INFO] [component_container_isolated-6]: process has finished cleanly [pid 6730] [INFO] [component_container_isolated-8]: process has finished cleanly [pid 6734] [INFO] [component_container_isolated-2]: process has finished cleanly [pid 6722] [INFO] [component_container_isolated-4]: process has finished cleanly [pid 6726] nvidia@tegra-ubuntu:~/ros2_ws$ ros2 launch launch_files zed_multi_record.launch.py [INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2026-05-21-20-01-43-041291-tegra-ubuntu-7740 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: * Starting ZED camera front (zedx, serial: 41385721) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/front/zed_container` [INFO] [launch.user]: * Starting ZED camera rear (zedx, serial: 40483530) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/rear/zed_container` [INFO] [launch.user]: * Starting ZED camera left (zedx, serial: 49440015) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/left/zed_container` [INFO] [launch.user]: * Starting ZED camera right (zedx, serial: 44036609) [INFO] [launch.user]: Using common configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/nvidia/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/nvidia/ros2_ws/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_record.yaml [INFO] [launch.user]: Loading ZED node `zed_node` in container `/right/zed_container` [INFO] [robot_state_publisher-1]: process started with pid [7760] [INFO] [component_container_isolated-2]: process started with pid [7762] [INFO] [robot_state_publisher-3]: process started with pid [7764] [INFO] [component_container_isolated-4]: process started with pid [7766] [INFO] [robot_state_publisher-5]: process started with pid [7768] [INFO] [component_container_isolated-6]: process started with pid [7770] [INFO] [robot_state_publisher-7]: process started with pid [7772] [INFO] [component_container_isolated-8]: process started with pid [7774] [INFO] [svo_controller-9]: process started with pid [7781] [robot_state_publisher-1] [INFO] [1779393707.091669276] [front.front_state_publisher]: got segment front_camera_center [robot_state_publisher-1] [INFO] [1779393707.091822653] [front.front_state_publisher]: got segment front_camera_link [robot_state_publisher-1] [INFO] [1779393707.091845501] [front.front_state_publisher]: got segment front_left_camera_frame [robot_state_publisher-1] [INFO] [1779393707.092042110] [front.front_state_publisher]: got segment front_left_camera_frame_optical [robot_state_publisher-1] [INFO] [1779393707.092069982] [front.front_state_publisher]: got segment front_right_camera_frame [robot_state_publisher-1] [INFO] [1779393707.092083166] [front.front_state_publisher]: got segment front_right_camera_frame_optical [robot_state_publisher-5] [INFO] [1779393707.093416006] [left.left_state_publisher]: got segment left_camera_center [robot_state_publisher-5] [INFO] [1779393707.093600263] [left.left_state_publisher]: got segment left_camera_link [robot_state_publisher-5] [INFO] [1779393707.093624839] [left.left_state_publisher]: got segment left_left_camera_frame [robot_state_publisher-5] [INFO] [1779393707.093638439] [left.left_state_publisher]: got segment left_left_camera_frame_optical [robot_state_publisher-5] [INFO] [1779393707.093648775] [left.left_state_publisher]: got segment left_right_camera_frame [robot_state_publisher-5] [INFO] [1779393707.093658343] [left.left_state_publisher]: got segment left_right_camera_frame_optical [robot_state_publisher-3] [INFO] [1779393707.097477757] [rear.rear_state_publisher]: got segment rear_camera_center [robot_state_publisher-3] [INFO] [1779393707.097633246] [rear.rear_state_publisher]: got segment rear_camera_link [robot_state_publisher-3] [INFO] [1779393707.097656030] [rear.rear_state_publisher]: got segment rear_left_camera_frame [robot_state_publisher-3] [INFO] [1779393707.097668606] [rear.rear_state_publisher]: got segment rear_left_camera_frame_optical [robot_state_publisher-3] [INFO] [1779393707.097678814] [rear.rear_state_publisher]: got segment rear_right_camera_frame [robot_state_publisher-3] [INFO] [1779393707.097687902] [rear.rear_state_publisher]: got segment rear_right_camera_frame_optical [robot_state_publisher-7] [INFO] [1779393707.109722946] [right.right_state_publisher]: got segment right_camera_center [robot_state_publisher-7] [INFO] [1779393707.110103748] [right.right_state_publisher]: got segment right_camera_link [robot_state_publisher-7] [INFO] [1779393707.110140036] [right.right_state_publisher]: got segment right_left_camera_frame [robot_state_publisher-7] [INFO] [1779393707.110156357] [right.right_state_publisher]: got segment right_left_camera_frame_optical [robot_state_publisher-7] [INFO] [1779393707.110167461] [right.right_state_publisher]: got segment right_right_camera_frame [robot_state_publisher-7] [INFO] [1779393707.110177381] [right.right_state_publisher]: got segment right_right_camera_frame_optical [component_container_isolated-4] [INFO] [1779393707.217686629] [rear.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-4] [INFO] [1779393707.266841660] [rear.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-4] [INFO] [1779393707.266945340] [rear.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1779393707.276704020] [front.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1779393707.325362599] [front.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rear/zed_node' in container '/rear/zed_container' [component_container_isolated-2] [INFO] [1779393707.325468136] [front.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-4] [INFO] [1779393707.340369148] [rear.zed_node]: ================================ [component_container_isolated-4] [INFO] [1779393707.340440604] [rear.zed_node]: ZED Camera Component [component_container_isolated-4] [INFO] [1779393707.340457212] [rear.zed_node]: ================================ [component_container_isolated-4] [INFO] [1779393707.340467453] [rear.zed_node]: * IPC: disabled [component_container_isolated-4] [INFO] [1779393707.390689113] [rear.zed_node]: * namespace: /rear [component_container_isolated-4] [INFO] [1779393707.390788761] [rear.zed_node]: * node name: zed_node [component_container_isolated-4] [INFO] [1779393707.390806010] [rear.zed_node]: ================================ [component_container_isolated-4] [INFO] [1779393707.390818074] [rear.zed_node]: Starting node initialization... [component_container_isolated-4] [INFO] [1779393707.390867994] [rear.zed_node]: === DEBUG parameters === [component_container_isolated-4] [INFO] [1779393707.391176156] [rear.zed_node]: * SDK Verbose: 0 [component_container_isolated-4] [INFO] [1779393707.391348637] [rear.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-4] [INFO] [1779393707.391497149] [rear.zed_node]: * SDK Verbose File: [component_container_isolated-4] [INFO] [1779393707.391697055] [rear.zed_node]: * Debug Common: FALSE [component_container_isolated-4] [INFO] [1779393707.391827487] [rear.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-4] [INFO] [1779393707.391952768] [rear.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-4] [INFO] [1779393707.392054081] [rear.zed_node]: * Debug Simulation: FALSE [component_container_isolated-4] [INFO] [1779393707.392151873] [rear.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-4] [INFO] [1779393707.392341890] [rear.zed_node]: * Debug Control settings: FALSE [component_container_isolated-4] [INFO] [1779393707.392465443] [rear.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-4] [INFO] [1779393707.392679620] [rear.zed_node]: * Debug TF: FALSE [component_container_isolated-4] [INFO] [1779393707.392814821] [rear.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-4] [INFO] [1779393707.392924742] [rear.zed_node]: * Debug GNSS: FALSE [component_container_isolated-4] [INFO] [1779393707.393036998] [rear.zed_node]: * Debug sensors: FALSE [component_container_isolated-4] [INFO] [1779393707.393129479] [rear.zed_node]: * Debug Mapping: FALSE [component_container_isolated-4] [INFO] [1779393707.393221447] [rear.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-4] [INFO] [1779393707.393317320] [rear.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-4] [INFO] [1779393707.393415784] [rear.zed_node]: * Debug Streaming: FALSE [component_container_isolated-4] [INFO] [1779393707.393673130] [rear.zed_node]: * Debug ROI: FALSE [component_container_isolated-4] [INFO] [1779393707.393806283] [rear.zed_node]: * Debug Nitros: FALSE [component_container_isolated-4] [INFO] [1779393707.393915819] [rear.zed_node]: * Debug Advanced: FALSE [component_container_isolated-4] [INFO] [1779393707.393958379] [rear.zed_node]: === TOPIC selection parameters === [component_container_isolated-4] [INFO] [1779393707.394066252] [rear.zed_node]: * Publish Status: TRUE [component_container_isolated-4] [INFO] [1779393707.394168653] [rear.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-4] [INFO] [1779393707.394271597] [rear.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-4] [INFO] [1779393707.394368974] [rear.zed_node]: * Publish Raw images: FALSE [component_container_isolated-4] [INFO] [1779393707.394464238] [rear.zed_node]: * Publish Gray images: FALSE [component_container_isolated-4] [INFO] [1779393707.394564143] [rear.zed_node]: * Publish RGB image: TRUE [component_container_isolated-4] [INFO] [1779393707.394659631] [rear.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-4] [INFO] [1779393707.394769200] [rear.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-4] [INFO] [1779393707.394939857] [rear.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-4] [INFO] [1779393707.395149010] [rear.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-4] [INFO] [1779393707.395286835] [rear.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-4] [INFO] [1779393707.395406836] [rear.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-4] [INFO] [1779393707.395535764] [rear.zed_node]: * Publish Disparity: FALSE [component_container_isolated-4] [INFO] [1779393707.395659413] [rear.zed_node]: * Publish IMU: TRUE [component_container_isolated-4] [INFO] [1779393707.395765398] [rear.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-4] [INFO] [1779393707.395882486] [rear.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-4] [INFO] [1779393707.395985143] [rear.zed_node]: * Publish Magnetometer: FALSE [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/front/zed_node' in container '/front/zed_container' [component_container_isolated-4] [INFO] [1779393707.396100087] [rear.zed_node]: * Publish Barometer: FALSE [component_container_isolated-4] [INFO] [1779393707.396210744] [rear.zed_node]: * Publish Temperature: FALSE [component_container_isolated-4] [INFO] [1779393707.396411769] [rear.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-4] [INFO] [1779393707.396528954] [rear.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-4] [INFO] [1779393707.396635099] [rear.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-4] [INFO] [1779393707.396739803] [rear.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-4] [INFO] [1779393707.396853244] [rear.zed_node]: === SVO INPUT parameters === [component_container_isolated-4] [INFO] [1779393707.396955292] [rear.zed_node]: * SVO input: DISABLED [component_container_isolated-4] [INFO] [1779393707.396981596] [rear.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-4] [INFO] [1779393707.397080605] [rear.zed_node]: * Local stream input: DISABLED [component_container_isolated-4] [INFO] [1779393707.397105053] [rear.zed_node]: === GENERAL parameters === [component_container_isolated-4] [INFO] [1779393707.397215806] [rear.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-4] [INFO] [1779393707.397327294] [rear.zed_node]: * Camera name: rear [component_container_isolated-4] [INFO] [1779393707.397436799] [rear.zed_node]: * Camera SN: 40483530 [component_container_isolated-4] [INFO] [1779393707.397546848] [rear.zed_node]: * Camera ID: -1 [component_container_isolated-4] [INFO] [1779393707.397656128] [rear.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-4] [INFO] [1779393707.397748673] [rear.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-4] [INFO] [1779393707.397857697] [rear.zed_node]: * Camera framerate: 30 [component_container_isolated-4] [INFO] [1779393707.397958690] [rear.zed_node]: * GPU ID: -1 [component_container_isolated-4] [INFO] [1779393707.398072867] [rear.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-4] [INFO] [1779393707.398174147] [rear.zed_node]: * Image Validity Check: 1 [component_container_isolated-4] [INFO] [1779393707.398309956] [rear.zed_node]: * Camera resolution: HD1080 [component_container_isolated-4] [INFO] [1779393707.398431205] [rear.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-4] [INFO] [1779393707.398531397] [rear.zed_node]: * OpenCV custom calibration: [component_container_isolated-4] [INFO] [1779393707.398635430] [rear.zed_node]: * Camera self calibration: TRUE [component_container_isolated-4] [INFO] [1779393707.398729478] [rear.zed_node]: * Camera flip: FALSE [component_container_isolated-4] [INFO] [1779393707.398880519] [rear.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.399003464] [rear.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-4] [INFO] [1779393707.399041512] [rear.zed_node]: === VIDEO parameters === [component_container_isolated-4] [INFO] [1779393707.399154697] [rear.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.399269737] [rear.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.399842637] [rear.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.384854168] [right.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-4] [INFO] [1779393707.400002478] [rear.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400116526] [rear.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400216271] [rear.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400339856] [rear.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400444368] [rear.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400548913] [rear.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400649105] [rear.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400750098] [rear.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400870675] [rear.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.400970675] [rear.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401081204] [rear.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401176596] [rear.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401278741] [rear.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401375733] [rear.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401472054] [rear.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401575542] [rear.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.401607607] [rear.zed_node]: === DEPTH parameters === [component_container_isolated-4] [WARN] [1779393707.401748535] [rear.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-4] [WARN] [1779393707.401791192] [rear.zed_node]: Using default value: NEURAL [component_container_isolated-4] [INFO] [1779393707.401809208] [rear.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-4] [INFO] [1779393707.401963961] [rear.zed_node]: * Min depth [m]: 1 [component_container_isolated-4] [INFO] [1779393707.402074297] [rear.zed_node]: * Max depth [m]: 12 [component_container_isolated-4] [INFO] [1779393707.402194138] [rear.zed_node]: * Depth Stabilization: 20 [component_container_isolated-4] [INFO] [1779393707.402293915] [rear.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-4] [INFO] [1779393707.402418075] [rear.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-4] [INFO] [1779393707.402522684] [rear.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-4] [INFO] [1779393707.402619996] [rear.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.402733597] [rear.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.402828926] [rear.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.402854270] [rear.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-4] [INFO] [1779393707.402963678] [rear.zed_node]: * Map frame id: map [component_container_isolated-4] [INFO] [1779393707.403066943] [rear.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-4] [INFO] [1779393707.403173888] [rear.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-4] [INFO] [1779393707.403308096] [rear.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-4] [INFO] [1779393707.403415553] [rear.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-4] [INFO] [1779393707.403541634] [rear.zed_node]: * Depth minimum range: 0 [component_container_isolated-4] [INFO] [1779393707.403649474] [rear.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.403770243] [rear.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.403873764] [rear.zed_node]: * Path history lenght: 50 [component_container_isolated-4] [INFO] [1779393707.403983812] [rear.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-4] [INFO] [1779393707.404100133] [rear.zed_node]: * Area Memory: FALSE [component_container_isolated-4] [INFO] [1779393707.404193797] [rear.zed_node]: * Area Memory File: [component_container_isolated-4] [INFO] [1779393707.404313094] [rear.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-4] [INFO] [1779393707.404413863] [rear.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-4] [INFO] [1779393707.404503143] [rear.zed_node]: * Camera is static: FALSE [component_container_isolated-4] [INFO] [1779393707.404603784] [rear.zed_node]: * Gravity as origin: FALSE [component_container_isolated-4] [INFO] [1779393707.404688584] [rear.zed_node]: * IMU Fusion: FALSE [component_container_isolated-4] [INFO] [1779393707.404792265] [rear.zed_node]: * Floor Alignment: FALSE [component_container_isolated-4] [INFO] [1779393707.404876969] [rear.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-4] [INFO] [1779393707.404976170] [rear.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-4] [INFO] [1779393707.405083914] [rear.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-4] [INFO] [1779393707.405189515] [rear.zed_node]: * 2D mode: FALSE [component_container_isolated-4] [INFO] [1779393707.405287884] [rear.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-4] [INFO] [1779393707.405316524] [rear.zed_node]: === GNSS FUSION parameters === [component_container_isolated-4] [INFO] [1779393707.405431564] [rear.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-4] [INFO] [1779393707.405458572] [rear.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-4] [INFO] [1779393707.405552397] [rear.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-4] [INFO] [1779393707.405679662] [rear.zed_node]: * Manual ROI polygon: [] [component_container_isolated-4] [INFO] [1779393707.405707854] [rear.zed_node]: === SENSORS STACK parameters === [component_container_isolated-4] [INFO] [1779393707.405801838] [rear.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-4] [INFO] [1779393707.405912975] [rear.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-4] [INFO] [1779393707.406022064] [rear.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.406047984] [rear.zed_node]: === Spatial Mapping parameters === [component_container_isolated-4] [INFO] [1779393707.406156880] [rear.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-4] [INFO] [1779393707.406267985] [rear.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-4] [INFO] [1779393707.406367570] [rear.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-4] [INFO] [1779393707.406472082] [rear.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.406583827] [rear.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-4] [INFO] [1779393707.406684755] [rear.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-4] [INFO] [1779393707.406798772] [rear.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-4] [INFO] [1779393707.406849012] [rear.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-4] [INFO] [1779393707.406944117] [rear.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-4] [INFO] [1779393707.407097174] [rear.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-4] [INFO] [1779393707.407217910] [rear.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-4] [INFO] [1779393707.407322647] [rear.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-4] [INFO] [1779393707.407433080] [rear.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-4] [INFO] [1779393707.407559224] [rear.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-4] [INFO] [1779393707.407694009] [rear.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-4] [INFO] [1779393707.407798394] [rear.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.407910138] [rear.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408015707] [rear.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408111772] [rear.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408219260] [rear.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408334461] [rear.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408442589] [rear.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408553790] [rear.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408662527] [rear.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408778335] [rear.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408878496] [rear.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.408991424] [rear.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.409094625] [rear.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.409208130] [rear.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.409245730] [rear.zed_node]: === Body Track. parameters === [component_container_isolated-4] [INFO] [1779393707.409342978] [rear.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-4] [INFO] [1779393707.409467203] [rear.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-4] [INFO] [1779393707.409583876] [rear.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-4] [INFO] [1779393707.409694596] [rear.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-4] [INFO] [1779393707.409803781] [rear.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-4] [INFO] [1779393707.409919238] [rear.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-4] [INFO] [1779393707.410038182] [rear.zed_node]: * Body fitting: FALSE [component_container_isolated-4] [INFO] [1779393707.410137255] [rear.zed_node]: * Body joints tracking: TRUE [component_container_isolated-4] [INFO] [1779393707.410251528] [rear.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-4] [INFO] [1779393707.410352392] [rear.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.410461641] [rear.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-4] [INFO] [1779393707.410498505] [rear.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-4] [INFO] [1779393707.410600298] [rear.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-4] [INFO] [1779393707.410697162] [rear.zed_node]: * Stream codec: H264 [component_container_isolated-4] [INFO] [1779393707.410808011] [rear.zed_node]: * Stream port: 30000 [component_container_isolated-4] [INFO] [1779393707.410912395] [rear.zed_node]: * Stream bitrate: 12500 [component_container_isolated-4] [INFO] [1779393707.411021996] [rear.zed_node]: * Stream GOP size: -1 [component_container_isolated-4] [INFO] [1779393707.411123533] [rear.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-4] [INFO] [1779393707.411220077] [rear.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-4] [INFO] [1779393707.411315278] [rear.zed_node]: * Target frame rate:0 [component_container_isolated-4] [INFO] [1779393707.411339726] [rear.zed_node]: === ADVANCED parameters === [component_container_isolated-4] [INFO] [1779393707.411424974] [rear.zed_node]: * Change thread priority: FALSE [component_container_isolated-4] [INFO] [1779393707.411528975] [rear.zed_node]: === SERVICES === [component_container_isolated-4] [INFO] [1779393707.412347475] [rear.zed_node]: * Advertised on service: '/rear/zed_node/reset_odometry' [component_container_isolated-4] [INFO] [1779393707.412738070] [rear.zed_node]: * Advertised on service: '/rear/zed_node/reset_pos_tracking' [component_container_isolated-4] [INFO] [1779393707.414085341] [rear.zed_node]: * Advertised on service: '/rear/zed_node/set_pose' [component_container_isolated-4] [INFO] [1779393707.414606688] [rear.zed_node]: * Advertised on service: '/rear/zed_node/save_area_memory' [component_container_isolated-4] [INFO] [1779393707.416326858] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_obj_det' [component_container_isolated-4] [INFO] [1779393707.416688524] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_body_trk' [component_container_isolated-4] [INFO] [1779393707.417018606] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_mapping' [component_container_isolated-4] [INFO] [1779393707.417334928] [rear.zed_node]: * Advertised on service: '/rear/zed_node/enable_streaming' [component_container_isolated-4] [INFO] [1779393707.417762354] [rear.zed_node]: * Advertised on service: '/rear/zed_node/start_svo_rec' [component_container_isolated-4] [INFO] [1779393707.418105940] [rear.zed_node]: * Advertised on service: '/rear/zed_node/stop_svo_rec' [component_container_isolated-4] [INFO] [1779393707.418479382] [rear.zed_node]: * Advertised on service: '/rear/zed_node/set_roi' [component_container_isolated-4] [INFO] [1779393707.418866904] [rear.zed_node]: * Advertised on service: '/rear/zed_node/reset_roi' [component_container_isolated-4] [INFO] [1779393707.418904409] [rear.zed_node]: === STARTING CAMERA === [component_container_isolated-4] [INFO] [1779393707.419137018] [rear.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-4] [INFO] [1779393707.423584243] [rear.zed_node]: === CAMERA OPENING === [component_container_isolated-2] [INFO] [1779393707.411845137] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1779393707.411916209] [front.zed_node]: ZED Camera Component [component_container_isolated-2] [INFO] [1779393707.411933361] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1779393707.411944209] [front.zed_node]: * IPC: disabled [component_container_isolated-6] [INFO] [1779393707.440471379] [left.zed_container]: Load Library: /home/nvidia/ros2_ws/install/zed_components/lib/libzed_camera_component.so [component_container_isolated-2] [INFO] [1779393707.462174094] [front.zed_node]: * namespace: /front [component_container_isolated-2] [INFO] [1779393707.462305006] [front.zed_node]: * node name: zed_node [component_container_isolated-2] [INFO] [1779393707.462324270] [front.zed_node]: ================================ [component_container_isolated-2] [INFO] [1779393707.462336463] [front.zed_node]: Starting node initialization... [component_container_isolated-2] [INFO] [1779393707.462380655] [front.zed_node]: === DEBUG parameters === [component_container_isolated-8] [INFO] [1779393707.462369199] [right.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-8] [INFO] [1779393707.462453039] [right.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-2] [INFO] [1779393707.462708209] [front.zed_node]: * SDK Verbose: 0 [component_container_isolated-2] [INFO] [1779393707.462896402] [front.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-2] [INFO] [1779393707.463035538] [front.zed_node]: * SDK Verbose File: [component_container_isolated-2] [INFO] [1779393707.463140819] [front.zed_node]: * Debug Common: FALSE [component_container_isolated-2] [INFO] [1779393707.463260116] [front.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-2] [INFO] [1779393707.463369044] [front.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-2] [INFO] [1779393707.463471157] [front.zed_node]: * Debug Simulation: FALSE [component_container_isolated-2] [INFO] [1779393707.463575350] [front.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-2] [INFO] [1779393707.463674326] [front.zed_node]: * Debug Control settings: FALSE [component_container_isolated-2] [INFO] [1779393707.463762487] [front.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-2] [INFO] [1779393707.463863735] [front.zed_node]: * Debug TF: FALSE [component_container_isolated-2] [INFO] [1779393707.463963992] [front.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-2] [INFO] [1779393707.464069336] [front.zed_node]: * Debug GNSS: FALSE [component_container_isolated-2] [INFO] [1779393707.464176217] [front.zed_node]: * Debug sensors: FALSE [component_container_isolated-2] [INFO] [1779393707.464295578] [front.zed_node]: * Debug Mapping: FALSE [component_container_isolated-2] [INFO] [1779393707.464415098] [front.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-2] [INFO] [1779393707.464519195] [front.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-2] [INFO] [1779393707.464612027] [front.zed_node]: * Debug Streaming: FALSE [component_container_isolated-2] [INFO] [1779393707.464721980] [front.zed_node]: * Debug ROI: FALSE [component_container_isolated-2] [INFO] [1779393707.464818557] [front.zed_node]: * Debug Nitros: FALSE [component_container_isolated-2] [INFO] [1779393707.464915293] [front.zed_node]: * Debug Advanced: FALSE [component_container_isolated-2] [INFO] [1779393707.464953213] [front.zed_node]: === TOPIC selection parameters === [component_container_isolated-2] [INFO] [1779393707.465057502] [front.zed_node]: * Publish Status: TRUE [component_container_isolated-2] [INFO] [1779393707.465172895] [front.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-2] [INFO] [1779393707.465295583] [front.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-2] [INFO] [1779393707.465403488] [front.zed_node]: * Publish Raw images: FALSE [component_container_isolated-2] [INFO] [1779393707.465508416] [front.zed_node]: * Publish Gray images: FALSE [component_container_isolated-2] [INFO] [1779393707.465614209] [front.zed_node]: * Publish RGB image: TRUE [component_container_isolated-2] [INFO] [1779393707.465717826] [front.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-2] [INFO] [1779393707.465814914] [front.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-2] [INFO] [1779393707.465908803] [front.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-2] [INFO] [1779393707.466012227] [front.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-2] [INFO] [1779393707.466106468] [front.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-2] [INFO] [1779393707.466210052] [front.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-2] [INFO] [1779393707.466313477] [front.zed_node]: * Publish Disparity: FALSE [component_container_isolated-2] [INFO] [1779393707.466407494] [front.zed_node]: * Publish IMU: TRUE [component_container_isolated-2] [INFO] [1779393707.466505670] [front.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-2] [INFO] [1779393707.466601671] [front.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-2] [INFO] [1779393707.466702791] [front.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-2] [INFO] [1779393707.466796968] [front.zed_node]: * Publish Barometer: FALSE [component_container_isolated-2] [INFO] [1779393707.466950409] [front.zed_node]: * Publish Temperature: FALSE [component_container_isolated-2] [INFO] [1779393707.467057033] [front.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-2] [INFO] [1779393707.467154954] [front.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-2] [INFO] [1779393707.467255978] [front.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-2] [INFO] [1779393707.467361675] [front.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-2] [INFO] [1779393707.467470668] [front.zed_node]: === SVO INPUT parameters === [component_container_isolated-2] [INFO] [1779393707.467583148] [front.zed_node]: * SVO input: DISABLED [component_container_isolated-2] [INFO] [1779393707.467608812] [front.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-2] [INFO] [1779393707.467698317] [front.zed_node]: * Local stream input: DISABLED [component_container_isolated-2] [INFO] [1779393707.467718541] [front.zed_node]: === GENERAL parameters === [component_container_isolated-2] [INFO] [1779393707.467837358] [front.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-2] [INFO] [1779393707.467945038] [front.zed_node]: * Camera name: front [component_container_isolated-2] [INFO] [1779393707.468063471] [front.zed_node]: * Camera SN: 41385721 [component_container_isolated-2] [INFO] [1779393707.468166416] [front.zed_node]: * Camera ID: -1 [component_container_isolated-2] [INFO] [1779393707.468440497] [front.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-2] [INFO] [1779393707.468598866] [front.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-2] [INFO] [1779393707.468719667] [front.zed_node]: * Camera framerate: 30 [component_container_isolated-2] [INFO] [1779393707.468828979] [front.zed_node]: * GPU ID: -1 [component_container_isolated-2] [INFO] [1779393707.468936436] [front.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-2] [INFO] [1779393707.469049013] [front.zed_node]: * Image Validity Check: 1 [component_container_isolated-2] [INFO] [1779393707.469203317] [front.zed_node]: * Camera resolution: HD1080 [component_container_isolated-2] [INFO] [1779393707.469334262] [front.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-2] [INFO] [1779393707.469446423] [front.zed_node]: * OpenCV custom calibration: [component_container_isolated-2] [INFO] [1779393707.469542711] [front.zed_node]: * Camera self calibration: TRUE [component_container_isolated-2] [INFO] [1779393707.469647608] [front.zed_node]: * Camera flip: FALSE [component_container_isolated-2] [INFO] [1779393707.469794649] [front.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.469914393] [front.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-2] [INFO] [1779393707.469955482] [front.zed_node]: === VIDEO parameters === [component_container_isolated-2] [INFO] [1779393707.470072858] [front.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470188507] [front.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470298620] [front.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470413884] [front.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470532381] [front.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470635549] [front.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470742654] [front.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470853375] [front.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.470970015] [front.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471085696] [front.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471196353] [front.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471317121] [front.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471415810] [front.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471527843] [front.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471641571] [front.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471755300] [front.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471874244] [front.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.471973061] [front.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.472091430] [front.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.472125638] [front.zed_node]: === DEPTH parameters === [component_container_isolated-2] [WARN] [1779393707.472296807] [front.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-2] [WARN] [1779393707.472332679] [front.zed_node]: Using default value: NEURAL [component_container_isolated-2] [INFO] [1779393707.472394151] [front.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-2] [INFO] [1779393707.472553512] [front.zed_node]: * Min depth [m]: 1 [component_container_isolated-2] [INFO] [1779393707.472666217] [front.zed_node]: * Max depth [m]: 12 [component_container_isolated-2] [INFO] [1779393707.472783690] [front.zed_node]: * Depth Stabilization: 20 [component_container_isolated-2] [INFO] [1779393707.472889706] [front.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-2] [INFO] [1779393707.473010923] [front.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-2] [INFO] [1779393707.473140428] [front.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-2] [INFO] [1779393707.473246924] [front.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.473369037] [front.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.473479598] [front.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.473509486] [front.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-2] [INFO] [1779393707.473614158] [front.zed_node]: * Map frame id: map [component_container_isolated-2] [INFO] [1779393707.473740943] [front.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-2] [INFO] [1779393707.473850544] [front.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-2] [INFO] [1779393707.474003569] [front.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-2] [INFO] [1779393707.474124817] [front.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-2] [INFO] [1779393707.474261842] [front.zed_node]: * Depth minimum range: 0 [component_container_isolated-2] [INFO] [1779393707.474382451] [front.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.474498195] [front.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.474625076] [front.zed_node]: * Path history lenght: 50 [component_container_isolated-2] [INFO] [1779393707.474744149] [front.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-2] [INFO] [1779393707.474866549] [front.zed_node]: * Area Memory: FALSE [component_container_isolated-2] [INFO] [1779393707.474963414] [front.zed_node]: * Area Memory File: [component_container_isolated-2] [INFO] [1779393707.475063671] [front.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-2] [INFO] [1779393707.475178775] [front.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-2] [INFO] [1779393707.475278968] [front.zed_node]: * Camera is static: FALSE [component_container_isolated-2] [INFO] [1779393707.475393464] [front.zed_node]: * Gravity as origin: FALSE [component_container_isolated-2] [INFO] [1779393707.475494361] [front.zed_node]: * IMU Fusion: FALSE [component_container_isolated-2] [INFO] [1779393707.475589914] [front.zed_node]: * Floor Alignment: FALSE [component_container_isolated-2] [INFO] [1779393707.475695130] [front.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-2] [INFO] [1779393707.475819067] [front.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-2] [INFO] [1779393707.475934395] [front.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-2] [INFO] [1779393707.476050460] [front.zed_node]: * 2D mode: FALSE [component_container_isolated-2] [INFO] [1779393707.476155997] [front.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-2] [INFO] [1779393707.476183677] [front.zed_node]: === GNSS FUSION parameters === [component_container_isolated-2] [INFO] [1779393707.476306878] [front.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-2] [INFO] [1779393707.476349406] [front.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-2] [INFO] [1779393707.476454014] [front.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-2] [INFO] [1779393707.476574463] [front.zed_node]: * Manual ROI polygon: [] [component_container_isolated-2] [INFO] [1779393707.476611391] [front.zed_node]: === SENSORS STACK parameters === [component_container_isolated-2] [INFO] [1779393707.476713568] [front.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-2] [INFO] [1779393707.476818848] [front.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-2] [INFO] [1779393707.476946401] [front.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.476977985] [front.zed_node]: === Spatial Mapping parameters === [component_container_isolated-2] [INFO] [1779393707.477095170] [front.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-2] [INFO] [1779393707.477204931] [front.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-2] [INFO] [1779393707.477318787] [front.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-2] [INFO] [1779393707.477433764] [front.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.477540389] [front.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-2] [INFO] [1779393707.477669893] [front.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-2] [INFO] [1779393707.477779334] [front.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-2] [INFO] [1779393707.477868422] [front.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-2] [INFO] [1779393707.477999463] [front.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-2] [INFO] [1779393707.478107432] [front.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1779393707.478228520] [front.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-2] [INFO] [1779393707.478341161] [front.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-2] [INFO] [1779393707.478450506] [front.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-2] [INFO] [1779393707.478580810] [front.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-2] [INFO] [1779393707.478701739] [front.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-2] [INFO] [1779393707.478821932] [front.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.478927756] [front.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479048845] [front.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479153230] [front.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479255502] [front.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479366223] [front.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479469136] [front.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479586416] [front.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479701233] [front.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479828018] [front.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.479936178] [front.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.480045075] [front.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.480164755] [front.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.480285524] [front.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.480336020] [front.zed_node]: === Body Track. parameters === [component_container_isolated-2] [INFO] [1779393707.480446229] [front.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-2] [INFO] [1779393707.480586006] [front.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-2] [INFO] [1779393707.480741335] [front.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-2] [INFO] [1779393707.480866359] [front.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-2] [INFO] [1779393707.480981976] [front.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-2] [INFO] [1779393707.481155833] [front.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-2] [INFO] [1779393707.481280634] [front.zed_node]: * Body fitting: FALSE [component_container_isolated-2] [INFO] [1779393707.481397018] [front.zed_node]: * Body joints tracking: TRUE [component_container_isolated-2] [INFO] [1779393707.481520987] [front.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-2] [INFO] [1779393707.481657436] [front.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.481767869] [front.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-2] [INFO] [1779393707.481798429] [front.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-2] [INFO] [1779393707.481905917] [front.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-2] [INFO] [1779393707.482027934] [front.zed_node]: * Stream codec: H264 [component_container_isolated-2] [INFO] [1779393707.482137311] [front.zed_node]: * Stream port: 30000 [component_container_isolated-2] [INFO] [1779393707.482238495] [front.zed_node]: * Stream bitrate: 12500 [component_container_isolated-2] [INFO] [1779393707.482338880] [front.zed_node]: * Stream GOP size: -1 [component_container_isolated-2] [INFO] [1779393707.482456096] [front.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-2] [INFO] [1779393707.482561633] [front.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-2] [INFO] [1779393707.482672290] [front.zed_node]: * Target frame rate:0 [component_container_isolated-2] [INFO] [1779393707.482705250] [front.zed_node]: === ADVANCED parameters === [component_container_isolated-2] [INFO] [1779393707.482830275] [front.zed_node]: * Change thread priority: FALSE [component_container_isolated-2] [INFO] [1779393707.482930499] [front.zed_node]: === SERVICES === [component_container_isolated-2] [INFO] [1779393707.483746792] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_odometry' [component_container_isolated-2] [INFO] [1779393707.484156810] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_pos_tracking' [component_container_isolated-2] [INFO] [1779393707.485554418] [front.zed_node]: * Advertised on service: '/front/zed_node/set_pose' [component_container_isolated-2] [INFO] [1779393707.485991092] [front.zed_node]: * Advertised on service: '/front/zed_node/save_area_memory' [component_container_isolated-2] [INFO] [1779393707.486652824] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_obj_det' [component_container_isolated-2] [INFO] [1779393707.486966362] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_body_trk' [component_container_isolated-2] [INFO] [1779393707.487255004] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_mapping' [component_container_isolated-2] [INFO] [1779393707.487579901] [front.zed_node]: * Advertised on service: '/front/zed_node/enable_streaming' [component_container_isolated-2] [INFO] [1779393707.488026112] [front.zed_node]: * Advertised on service: '/front/zed_node/start_svo_rec' [component_container_isolated-2] [INFO] [1779393707.488395554] [front.zed_node]: * Advertised on service: '/front/zed_node/stop_svo_rec' [component_container_isolated-2] [INFO] [1779393707.488795524] [front.zed_node]: * Advertised on service: '/front/zed_node/set_roi' [component_container_isolated-2] [INFO] [1779393707.489097414] [front.zed_node]: * Advertised on service: '/front/zed_node/reset_roi' [component_container_isolated-2] [INFO] [1779393707.489132070] [front.zed_node]: === STARTING CAMERA === [component_container_isolated-2] [INFO] [1779393707.489308967] [front.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-2] [INFO] [1779393707.495359849] [front.zed_node]: === CAMERA OPENING === [component_container_isolated-6] [INFO] [1779393707.502166480] [left.zed_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-6] [INFO] [1779393707.502249520] [left.zed_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-8] [INFO] [1779393707.564928851] [right.zed_node]: ================================ [component_container_isolated-8] [INFO] [1779393707.565008884] [right.zed_node]: ZED Camera Component [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right/zed_node' in container '/right/zed_container' [component_container_isolated-8] [INFO] [1779393707.565027892] [right.zed_node]: ================================ [component_container_isolated-8] [INFO] [1779393707.565038452] [right.zed_node]: * IPC: disabled [component_container_isolated-6] [INFO] [1779393707.574775851] [left.zed_node]: ================================ [component_container_isolated-6] [INFO] [1779393707.574857516] [left.zed_node]: ZED Camera Component [component_container_isolated-6] [INFO] [1779393707.574874732] [left.zed_node]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left/zed_node' in container '/left/zed_container' [component_container_isolated-6] [INFO] [1779393707.574886316] [left.zed_node]: * IPC: disabled [component_container_isolated-8] [INFO] [1779393707.615253648] [right.zed_node]: * namespace: /right [component_container_isolated-8] [INFO] [1779393707.615350609] [right.zed_node]: * node name: zed_node [component_container_isolated-8] [INFO] [1779393707.615368657] [right.zed_node]: ================================ [component_container_isolated-8] [INFO] [1779393707.615380689] [right.zed_node]: Starting node initialization... [component_container_isolated-8] [INFO] [1779393707.615430481] [right.zed_node]: === DEBUG parameters === [component_container_isolated-8] [INFO] [1779393707.615709363] [right.zed_node]: * SDK Verbose: 0 [component_container_isolated-8] [INFO] [1779393707.615895092] [right.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-8] [INFO] [1779393707.616046453] [right.zed_node]: * SDK Verbose File: [component_container_isolated-8] [INFO] [1779393707.616173941] [right.zed_node]: * Debug Common: FALSE [component_container_isolated-8] [INFO] [1779393707.616358167] [right.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-8] [INFO] [1779393707.616520727] [right.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-8] [INFO] [1779393707.616650872] [right.zed_node]: * Debug Simulation: FALSE [component_container_isolated-8] [INFO] [1779393707.616777433] [right.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-8] [INFO] [1779393707.616912858] [right.zed_node]: * Debug Control settings: FALSE [component_container_isolated-8] [INFO] [1779393707.617043674] [right.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-8] [INFO] [1779393707.617162011] [right.zed_node]: * Debug TF: FALSE [component_container_isolated-8] [INFO] [1779393707.617292412] [right.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-8] [INFO] [1779393707.617403868] [right.zed_node]: * Debug GNSS: FALSE [component_container_isolated-8] [INFO] [1779393707.617505565] [right.zed_node]: * Debug sensors: FALSE [component_container_isolated-8] [INFO] [1779393707.617622782] [right.zed_node]: * Debug Mapping: FALSE [component_container_isolated-8] [INFO] [1779393707.617742174] [right.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-8] [INFO] [1779393707.617872223] [right.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-8] [INFO] [1779393707.617983744] [right.zed_node]: * Debug Streaming: FALSE [component_container_isolated-8] [INFO] [1779393707.618102368] [right.zed_node]: * Debug ROI: FALSE [component_container_isolated-8] [INFO] [1779393707.618221473] [right.zed_node]: * Debug Nitros: FALSE [component_container_isolated-8] [INFO] [1779393707.618394882] [right.zed_node]: * Debug Advanced: FALSE [component_container_isolated-8] [INFO] [1779393707.618443042] [right.zed_node]: === TOPIC selection parameters === [component_container_isolated-8] [INFO] [1779393707.618566147] [right.zed_node]: * Publish Status: TRUE [component_container_isolated-8] [INFO] [1779393707.618678404] [right.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-8] [INFO] [1779393707.618793764] [right.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-8] [INFO] [1779393707.618896421] [right.zed_node]: * Publish Raw images: FALSE [component_container_isolated-8] [INFO] [1779393707.618994437] [right.zed_node]: * Publish Gray images: FALSE [component_container_isolated-8] [INFO] [1779393707.619111334] [right.zed_node]: * Publish RGB image: TRUE [component_container_isolated-8] [INFO] [1779393707.619210631] [right.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-8] [INFO] [1779393707.619316839] [right.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-8] [INFO] [1779393707.619409128] [right.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-8] [INFO] [1779393707.619507048] [right.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-8] [INFO] [1779393707.619598633] [right.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-8] [INFO] [1779393707.619700297] [right.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-8] [INFO] [1779393707.619804138] [right.zed_node]: * Publish Disparity: FALSE [component_container_isolated-8] [INFO] [1779393707.619888746] [right.zed_node]: * Publish IMU: TRUE [component_container_isolated-8] [INFO] [1779393707.619982955] [right.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-8] [INFO] [1779393707.620094476] [right.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-8] [INFO] [1779393707.620207532] [right.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-8] [INFO] [1779393707.620334221] [right.zed_node]: * Publish Barometer: FALSE [component_container_isolated-8] [INFO] [1779393707.620498350] [right.zed_node]: * Publish Temperature: FALSE [component_container_isolated-8] [INFO] [1779393707.620599631] [right.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-8] [INFO] [1779393707.620702479] [right.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-8] [INFO] [1779393707.620806096] [right.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-8] [INFO] [1779393707.620913008] [right.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-8] [INFO] [1779393707.621041105] [right.zed_node]: === SVO INPUT parameters === [component_container_isolated-8] [INFO] [1779393707.621156242] [right.zed_node]: * SVO input: DISABLED [component_container_isolated-8] [INFO] [1779393707.621186514] [right.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-8] [INFO] [1779393707.621286258] [right.zed_node]: * Local stream input: DISABLED [component_container_isolated-8] [INFO] [1779393707.621312627] [right.zed_node]: === GENERAL parameters === [component_container_isolated-8] [INFO] [1779393707.621433427] [right.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-8] [INFO] [1779393707.621557364] [right.zed_node]: * Camera name: right [component_container_isolated-8] [INFO] [1779393707.621671893] [right.zed_node]: * Camera SN: 44036609 [component_container_isolated-8] [INFO] [1779393707.621773077] [right.zed_node]: * Camera ID: -1 [component_container_isolated-8] [INFO] [1779393707.621887830] [right.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-8] [INFO] [1779393707.622001590] [right.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-8] [INFO] [1779393707.622115639] [right.zed_node]: * Camera framerate: 30 [component_container_isolated-8] [INFO] [1779393707.622220600] [right.zed_node]: * GPU ID: -1 [component_container_isolated-8] [INFO] [1779393707.622323864] [right.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-8] [INFO] [1779393707.622427897] [right.zed_node]: * Image Validity Check: 1 [component_container_isolated-8] [INFO] [1779393707.622571962] [right.zed_node]: * Camera resolution: HD1080 [component_container_isolated-8] [INFO] [1779393707.622707066] [right.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-8] [INFO] [1779393707.622824411] [right.zed_node]: * OpenCV custom calibration: [component_container_isolated-8] [INFO] [1779393707.622926364] [right.zed_node]: * Camera self calibration: TRUE [component_container_isolated-8] [INFO] [1779393707.623040860] [right.zed_node]: * Camera flip: FALSE [component_container_isolated-8] [INFO] [1779393707.623199325] [right.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.623330846] [right.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-8] [INFO] [1779393707.623372094] [right.zed_node]: === VIDEO parameters === [component_container_isolated-8] [INFO] [1779393707.623493183] [right.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.623596255] [right.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.623706944] [right.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.623810945] [right.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.623921121] [right.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624029698] [right.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624137987] [right.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624261859] [right.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624376996] [right.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624498629] [right.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624609797] [right.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624733638] [right.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624840615] [right.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.624944359] [right.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.625059752] [right.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.625161416] [right.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.625286313] [right.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.625392650] [right.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.625499338] [right.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.625543915] [right.zed_node]: === DEPTH parameters === [component_container_isolated-8] [WARN] [1779393707.625687339] [right.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-8] [WARN] [1779393707.625717260] [right.zed_node]: Using default value: NEURAL [component_container_isolated-8] [INFO] [1779393707.625765644] [right.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-8] [INFO] [1779393707.625904141] [right.zed_node]: * Min depth [m]: 1 [component_container_isolated-8] [INFO] [1779393707.626024813] [right.zed_node]: * Max depth [m]: 12 [component_container_isolated-6] [INFO] [1779393707.625618539] [left.zed_node]: * namespace: /left [component_container_isolated-6] [INFO] [1779393707.625806156] [left.zed_node]: * node name: zed_node [component_container_isolated-6] [INFO] [1779393707.625831660] [left.zed_node]: ================================ [component_container_isolated-6] [INFO] [1779393707.625845516] [left.zed_node]: Starting node initialization... [component_container_isolated-6] [INFO] [1779393707.626095854] [left.zed_node]: === DEBUG parameters === [component_container_isolated-8] [INFO] [1779393707.626143918] [right.zed_node]: * Depth Stabilization: 20 [component_container_isolated-8] [INFO] [1779393707.626240942] [right.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-8] [INFO] [1779393707.626346895] [right.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-8] [INFO] [1779393707.626466480] [right.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-8] [INFO] [1779393707.626583088] [right.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.626706161] [right.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.626811794] [right.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.626840434] [right.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-8] [INFO] [1779393707.626948306] [right.zed_node]: * Map frame id: map [component_container_isolated-8] [INFO] [1779393707.627059315] [right.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-8] [INFO] [1779393707.627158932] [right.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-8] [INFO] [1779393707.627314037] [right.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-8] [INFO] [1779393707.627430677] [right.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-8] [INFO] [1779393707.627550262] [right.zed_node]: * Depth minimum range: 0 [component_container_isolated-8] [INFO] [1779393707.627680023] [right.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.627780663] [right.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.627899928] [right.zed_node]: * Path history lenght: 50 [component_container_isolated-6] [INFO] [1779393707.627848696] [left.zed_node]: * SDK Verbose: 0 [component_container_isolated-8] [INFO] [1779393707.628015673] [right.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-8] [INFO] [1779393707.628136985] [right.zed_node]: * Area Memory: FALSE [component_container_isolated-8] [INFO] [1779393707.628271962] [right.zed_node]: * Area Memory File: [component_container_isolated-8] [INFO] [1779393707.628392891] [right.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-8] [INFO] [1779393707.628501243] [right.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-8] [INFO] [1779393707.628593948] [right.zed_node]: * Camera is static: FALSE [component_container_isolated-8] [INFO] [1779393707.628701884] [right.zed_node]: * Gravity as origin: FALSE [component_container_isolated-8] [INFO] [1779393707.628795901] [right.zed_node]: * IMU Fusion: FALSE [component_container_isolated-8] [INFO] [1779393707.628880445] [right.zed_node]: * Floor Alignment: FALSE [component_container_isolated-8] [INFO] [1779393707.628983902] [right.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-8] [INFO] [1779393707.629095167] [right.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-6] [INFO] [1779393707.628716860] [left.zed_node]: * Use Pub Timestamps: FALSE [component_container_isolated-8] [INFO] [1779393707.629199999] [right.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-8] [INFO] [1779393707.629303520] [right.zed_node]: * 2D mode: FALSE [component_container_isolated-8] [INFO] [1779393707.629426465] [right.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-8] [INFO] [1779393707.629455105] [right.zed_node]: === GNSS FUSION parameters === [component_container_isolated-8] [INFO] [1779393707.629559617] [right.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-8] [INFO] [1779393707.629602338] [right.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-8] [INFO] [1779393707.629702018] [right.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-8] [INFO] [1779393707.629824739] [right.zed_node]: * Manual ROI polygon: [] [component_container_isolated-8] [INFO] [1779393707.629867395] [right.zed_node]: === SENSORS STACK parameters === [component_container_isolated-8] [INFO] [1779393707.629975108] [right.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-8] [INFO] [1779393707.630089316] [right.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-8] [INFO] [1779393707.630221381] [right.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.630254021] [right.zed_node]: === Spatial Mapping parameters === [component_container_isolated-8] [INFO] [1779393707.630374726] [right.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-8] [INFO] [1779393707.630491175] [right.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-8] [INFO] [1779393707.630602343] [right.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-8] [INFO] [1779393707.630728200] [right.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.630833384] [right.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-8] [INFO] [1779393707.630954825] [right.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-8] [INFO] [1779393707.631065770] [right.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-8] [INFO] [1779393707.631141098] [right.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-8] [INFO] [1779393707.631255659] [right.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-8] [INFO] [1779393707.631358219] [right.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-8] [INFO] [1779393707.631490124] [right.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-8] [INFO] [1779393707.631598413] [right.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-8] [INFO] [1779393707.631706989] [right.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-8] [INFO] [1779393707.631847630] [right.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-8] [INFO] [1779393707.631990447] [right.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-8] [INFO] [1779393707.632118704] [right.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.632225808] [right.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.632363153] [right.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.632466130] [right.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.632564146] [right.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.632685331] [right.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.632793108] [right.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.630423078] [left.zed_node]: * SDK Verbose File: [component_container_isolated-6] [INFO] [1779393707.630900361] [left.zed_node]: * Debug Common: FALSE [component_container_isolated-6] [INFO] [1779393707.631657293] [left.zed_node]: * Debug Dynamic Parameters: FALSE [component_container_isolated-6] [INFO] [1779393707.632184976] [left.zed_node]: * Debug Grab (low level): FALSE [component_container_isolated-6] [INFO] [1779393707.632604659] [left.zed_node]: * Debug Simulation: FALSE [component_container_isolated-6] [INFO] [1779393707.632881524] [left.zed_node]: * Debug Video/Depth: FALSE [component_container_isolated-8] [INFO] [1779393707.632926164] [right.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633042133] [right.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633165782] [right.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633277494] [right.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633387351] [right.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633513016] [right.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633625784] [right.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.633677017] [right.zed_node]: === Body Track. parameters === [component_container_isolated-6] [INFO] [1779393707.633715065] [left.zed_node]: * Debug Control settings: FALSE [component_container_isolated-8] [INFO] [1779393707.633785337] [right.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-8] [INFO] [1779393707.633914298] [right.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-8] [INFO] [1779393707.634066811] [right.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-8] [INFO] [1779393707.634178939] [right.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-8] [INFO] [1779393707.634320668] [right.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-8] [INFO] [1779393707.634444509] [right.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-8] [INFO] [1779393707.634550430] [right.zed_node]: * Body fitting: FALSE [component_container_isolated-8] [INFO] [1779393707.634667646] [right.zed_node]: * Body joints tracking: TRUE [component_container_isolated-8] [INFO] [1779393707.634776895] [right.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-8] [INFO] [1779393707.634902048] [right.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.635006368] [right.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.635036736] [right.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-8] [INFO] [1779393707.635151969] [right.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-8] [INFO] [1779393707.635255138] [right.zed_node]: * Stream codec: H264 [component_container_isolated-8] [INFO] [1779393707.635364994] [right.zed_node]: * Stream port: 30000 [component_container_isolated-8] [INFO] [1779393707.635482147] [right.zed_node]: * Stream bitrate: 12500 [component_container_isolated-8] [INFO] [1779393707.635585987] [right.zed_node]: * Stream GOP size: -1 [component_container_isolated-8] [INFO] [1779393707.635704292] [right.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-8] [INFO] [1779393707.635808357] [right.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-8] [INFO] [1779393707.635908869] [right.zed_node]: * Target frame rate:0 [component_container_isolated-8] [INFO] [1779393707.635948389] [right.zed_node]: === ADVANCED parameters === [component_container_isolated-8] [INFO] [1779393707.636050438] [right.zed_node]: * Change thread priority: FALSE [component_container_isolated-8] [INFO] [1779393707.636140231] [right.zed_node]: === SERVICES === [component_container_isolated-6] [INFO] [1779393707.635090017] [left.zed_node]: * Debug Point Cloud: FALSE [component_container_isolated-6] [INFO] [1779393707.636502441] [left.zed_node]: * Debug TF: FALSE [component_container_isolated-6] [INFO] [1779393707.636730570] [left.zed_node]: * Debug Positional Tracking: FALSE [component_container_isolated-6] [INFO] [1779393707.637014187] [left.zed_node]: * Debug GNSS: FALSE [component_container_isolated-6] [INFO] [1779393707.637378030] [left.zed_node]: * Debug sensors: FALSE [component_container_isolated-8] [INFO] [1779393707.637561615] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_odometry' [component_container_isolated-6] [INFO] [1779393707.637604431] [left.zed_node]: * Debug Mapping: FALSE [component_container_isolated-6] [INFO] [1779393707.637816752] [left.zed_node]: * Debug Object Detection: FALSE [component_container_isolated-6] [INFO] [1779393707.638011569] [left.zed_node]: * Debug Body Tracking: FALSE [component_container_isolated-6] [INFO] [1779393707.638312947] [left.zed_node]: * Debug Streaming: FALSE [component_container_isolated-6] [INFO] [1779393707.638657909] [left.zed_node]: * Debug ROI: FALSE [component_container_isolated-6] [INFO] [1779393707.638954838] [left.zed_node]: * Debug Nitros: FALSE [component_container_isolated-6] [INFO] [1779393707.639202616] [left.zed_node]: * Debug Advanced: FALSE [component_container_isolated-6] [INFO] [1779393707.639267800] [left.zed_node]: === TOPIC selection parameters === [component_container_isolated-6] [INFO] [1779393707.639502330] [left.zed_node]: * Publish Status: TRUE [component_container_isolated-6] [INFO] [1779393707.639720731] [left.zed_node]: * Image format: BGRA 32-bit [component_container_isolated-8] [INFO] [1779393707.638668373] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_pos_tracking' [component_container_isolated-6] [INFO] [1779393707.639957340] [left.zed_node]: * Publish Left/Right images: FALSE [component_container_isolated-6] [INFO] [1779393707.640140061] [left.zed_node]: * Publish Raw images: FALSE [component_container_isolated-6] [INFO] [1779393707.640405823] [left.zed_node]: * Publish Gray images: FALSE [component_container_isolated-6] [INFO] [1779393707.640658880] [left.zed_node]: * Publish RGB image: TRUE [component_container_isolated-8] [INFO] [1779393707.640721696] [right.zed_node]: * Advertised on service: '/right/zed_node/set_pose' [component_container_isolated-6] [INFO] [1779393707.640885985] [left.zed_node]: * Publish Stereo image: FALSE [component_container_isolated-6] [INFO] [1779393707.641136131] [left.zed_node]: * Publish ROI Mask image: TRUE [component_container_isolated-6] [INFO] [1779393707.641470085] [left.zed_node]: * Publish Depth Map: FALSE [component_container_isolated-8] [INFO] [1779393707.641409796] [right.zed_node]: * Advertised on service: '/right/zed_node/save_area_memory' [component_container_isolated-6] [INFO] [1779393707.641779558] [left.zed_node]: * Publish Depth Info: FALSE [component_container_isolated-6] [INFO] [1779393707.642142664] [left.zed_node]: * Publish Point Cloud: FALSE [component_container_isolated-6] [INFO] [1779393707.642543115] [left.zed_node]: * Publish Depth Confidence: FALSE [component_container_isolated-6] [INFO] [1779393707.642791180] [left.zed_node]: * Publish Disparity: FALSE [component_container_isolated-6] [INFO] [1779393707.643156782] [left.zed_node]: * Publish IMU: TRUE [component_container_isolated-6] [INFO] [1779393707.643378447] [left.zed_node]: * Publish IMU Raw: FALSE [component_container_isolated-8] [INFO] [1779393707.642746060] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_obj_det' [component_container_isolated-8] [INFO] [1779393707.643333711] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_body_trk' [component_container_isolated-6] [INFO] [1779393707.643588305] [left.zed_node]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-6] [INFO] [1779393707.644027923] [left.zed_node]: * Publish Magnetometer: FALSE [component_container_isolated-6] [INFO] [1779393707.644419221] [left.zed_node]: * Publish Barometer: FALSE [component_container_isolated-6] [INFO] [1779393707.644720983] [left.zed_node]: * Publish Temperature: FALSE [component_container_isolated-6] [INFO] [1779393707.645078745] [left.zed_node]: * Publish Odometry/Pose: TRUE [component_container_isolated-6] [INFO] [1779393707.645322234] [left.zed_node]: * Publish Pose with Covariance: TRUE [component_container_isolated-6] [INFO] [1779393707.645535644] [left.zed_node]: * Publish Camera Path: TRUE [component_container_isolated-6] [INFO] [1779393707.646027390] [left.zed_node]: * Publish Detection Plane: FALSE [component_container_isolated-6] [INFO] [1779393707.646296928] [left.zed_node]: === SVO INPUT parameters === [component_container_isolated-6] [INFO] [1779393707.646604002] [left.zed_node]: * SVO input: DISABLED [component_container_isolated-6] [INFO] [1779393707.646645634] [left.zed_node]: === LOCAL STREAMING parameters === [component_container_isolated-6] [INFO] [1779393707.646860131] [left.zed_node]: * Local stream input: DISABLED [component_container_isolated-6] [INFO] [1779393707.647010596] [left.zed_node]: === GENERAL parameters === [component_container_isolated-6] [INFO] [1779393707.647286214] [left.zed_node]: * Camera model: zedx - ZED X [component_container_isolated-6] [INFO] [1779393707.647538215] [left.zed_node]: * Camera name: left [component_container_isolated-6] [INFO] [1779393707.647782696] [left.zed_node]: * Camera SN: 49440015 [component_container_isolated-6] [INFO] [1779393707.648027882] [left.zed_node]: * Camera ID: -1 [component_container_isolated-6] [INFO] [1779393707.648298347] [left.zed_node]: * Camera timeout [sec]: 5 [component_container_isolated-6] [INFO] [1779393707.648548621] [left.zed_node]: * Camera reconnection temptatives: 5 [component_container_isolated-6] [INFO] [1779393707.649215121] [left.zed_node]: * Camera framerate: 30 [component_container_isolated-6] [INFO] [1779393707.649492114] [left.zed_node]: * GPU ID: -1 [component_container_isolated-6] [INFO] [1779393707.649752244] [left.zed_node]: * Asynchronous image retrieval: FALSE [component_container_isolated-6] [INFO] [1779393707.649887188] [left.zed_node]: * Image Validity Check: 1 [component_container_isolated-8] [INFO] [1779393707.644102260] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_mapping' [component_container_isolated-8] [INFO] [1779393707.644998617] [right.zed_node]: * Advertised on service: '/right/zed_node/enable_streaming' [component_container_isolated-8] [INFO] [1779393707.645989790] [right.zed_node]: * Advertised on service: '/right/zed_node/start_svo_rec' [component_container_isolated-8] [INFO] [1779393707.647079588] [right.zed_node]: * Advertised on service: '/right/zed_node/stop_svo_rec' [component_container_isolated-8] [INFO] [1779393707.648231915] [right.zed_node]: * Advertised on service: '/right/zed_node/set_roi' [component_container_isolated-8] [INFO] [1779393707.649090736] [right.zed_node]: * Advertised on service: '/right/zed_node/reset_roi' [component_container_isolated-8] [INFO] [1779393707.649199408] [right.zed_node]: === STARTING CAMERA === [component_container_isolated-8] [INFO] [1779393707.649393714] [right.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-6] [INFO] [1779393707.650473880] [left.zed_node]: * Camera resolution: HD1080 [component_container_isolated-6] [INFO] [1779393707.650782169] [left.zed_node]: * Publishing resolution: NATIVE [component_container_isolated-6] [INFO] [1779393707.651309820] [left.zed_node]: * OpenCV custom calibration: [component_container_isolated-6] [INFO] [1779393707.651607998] [left.zed_node]: * Camera self calibration: TRUE [component_container_isolated-6] [INFO] [1779393707.651854431] [left.zed_node]: * Camera flip: FALSE [component_container_isolated-6] [INFO] [1779393707.652155073] [left.zed_node]: * Publish framerate [Hz]: 0.2 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.652553027] [left.zed_node]: * Grab Compute Capping FPS: 0 [component_container_isolated-6] [INFO] [1779393707.652808965] [left.zed_node]: === VIDEO parameters === [component_container_isolated-6] [INFO] [1779393707.653309992] [left.zed_node]: * Saturation: 4 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.653539497] [left.zed_node]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.654009420] [left.zed_node]: * Gamma: 8 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.654683695] [left.zed_node]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.655253171] [left.zed_node]: * Exposure: 80 [DYNAMIC] [component_container_isolated-8] [INFO] [1779393707.655345235] [right.zed_node]: === CAMERA OPENING === [component_container_isolated-6] [INFO] [1779393707.655512724] [left.zed_node]: * Gain: 80 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.655824982] [left.zed_node]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.656057783] [left.zed_node]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.656309593] [left.zed_node]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.656551002] [left.zed_node]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.656813020] [left.zed_node]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.657047229] [left.zed_node]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.657273086] [left.zed_node]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.657523872] [left.zed_node]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.657763873] [left.zed_node]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.658011266] [left.zed_node]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.658235748] [left.zed_node]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.658467813] [left.zed_node]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.658717158] [left.zed_node]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.658757287] [left.zed_node]: === DEPTH parameters === [component_container_isolated-6] [WARN] [1779393707.659011784] [left.zed_node]: The parameter 'depth.depth_mode' contains a not valid string. Please check it in 'common_stereo.yaml'. [component_container_isolated-6] [WARN] [1779393707.659052296] [left.zed_node]: Using default value: NEURAL [component_container_isolated-6] [INFO] [1779393707.659089288] [left.zed_node]: * Depth mode: NEURAL [5] [component_container_isolated-6] [INFO] [1779393707.659372746] [left.zed_node]: * Min depth [m]: 1 [component_container_isolated-6] [INFO] [1779393707.659608971] [left.zed_node]: * Max depth [m]: 12 [component_container_isolated-6] [INFO] [1779393707.659857965] [left.zed_node]: * Depth Stabilization: 20 [component_container_isolated-6] [INFO] [1779393707.660088078] [left.zed_node]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-6] [INFO] [1779393707.660383600] [left.zed_node]: * Point cloud rate [Hz]: 0.2 [component_container_isolated-6] [INFO] [1779393707.660640209] [left.zed_node]: * Point cloud resolution: COMPACT [component_container_isolated-6] [INFO] [1779393707.660877555] [left.zed_node]: * Depth Confidence: 100 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.661127028] [left.zed_node]: * Depth Texture Confidence: 90 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.661359541] [left.zed_node]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.661397910] [left.zed_node]: === POSITIONAL TRACKING parameters === [component_container_isolated-6] [INFO] [1779393707.661610391] [left.zed_node]: * Map frame id: map [component_container_isolated-6] [INFO] [1779393707.661869624] [left.zed_node]: * Odometry frame id: /zed/odom [component_container_isolated-6] [INFO] [1779393707.662099833] [left.zed_node]: * Positional tracking enabled: TRUE [component_container_isolated-6] [INFO] [1779393707.662375995] [left.zed_node]: * Positional tracking mode: GEN 3 [component_container_isolated-6] [INFO] [1779393707.662607740] [left.zed_node]: * Broadcast Odometry TF: FALSE [component_container_isolated-6] [INFO] [1779393707.662846206] [left.zed_node]: * Depth minimum range: 0 [component_container_isolated-6] [INFO] [1779393707.663095263] [left.zed_node]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.663332576] [left.zed_node]: * Path publishing rate: 0.2 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.663574242] [left.zed_node]: * Path history lenght: 50 [component_container_isolated-6] [INFO] [1779393707.663814307] [left.zed_node]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-6] [INFO] [1779393707.664047621] [left.zed_node]: * Area Memory: FALSE [component_container_isolated-6] [INFO] [1779393707.664301958] [left.zed_node]: * Area Memory File: [component_container_isolated-6] [INFO] [1779393707.664536519] [left.zed_node]: * Enable Localization Only: FALSE [component_container_isolated-6] [INFO] [1779393707.664759177] [left.zed_node]: * Save Area Memory on closing: FALSE [component_container_isolated-6] [INFO] [1779393707.664998346] [left.zed_node]: * Camera is static: FALSE [component_container_isolated-6] [INFO] [1779393707.665225547] [left.zed_node]: * Gravity as origin: FALSE [component_container_isolated-6] [INFO] [1779393707.665450988] [left.zed_node]: * IMU Fusion: FALSE [component_container_isolated-6] [INFO] [1779393707.665686158] [left.zed_node]: * Floor Alignment: FALSE [component_container_isolated-6] [INFO] [1779393707.665912431] [left.zed_node]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-6] [INFO] [1779393707.666149712] [left.zed_node]: * Publish 3D Landmarks: FALSE [component_container_isolated-6] [INFO] [1779393707.666397746] [left.zed_node]: * Publish Landmark Skip Frame: [component_container_isolated-6] [INFO] [1779393707.666623635] [left.zed_node]: * 2D mode: FALSE [component_container_isolated-6] [INFO] [1779393707.666843732] [left.zed_node]: * Reset pose with SVO loop: TRUE [component_container_isolated-6] [INFO] [1779393707.666882805] [left.zed_node]: === GNSS FUSION parameters === [component_container_isolated-6] [INFO] [1779393707.667110614] [left.zed_node]: * GNSS fusion enabled: FALSE [component_container_isolated-6] [INFO] [1779393707.667149654] [left.zed_node]: === REGION OF INTEREST parameters === [component_container_isolated-6] [INFO] [1779393707.667354231] [left.zed_node]: * Automatic ROI generation: FALSE [component_container_isolated-6] [INFO] [1779393707.667611193] [left.zed_node]: * Manual ROI polygon: [] [component_container_isolated-6] [INFO] [1779393707.667649145] [left.zed_node]: === SENSORS STACK parameters === [component_container_isolated-6] [INFO] [1779393707.667857018] [left.zed_node]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-6] [INFO] [1779393707.668100155] [left.zed_node]: * Sensors Camera Sync: FALSE [component_container_isolated-6] [INFO] [1779393707.668348317] [left.zed_node]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.668389341] [left.zed_node]: === Spatial Mapping parameters === [component_container_isolated-6] [INFO] [1779393707.668622526] [left.zed_node]: * Spatial Mapping Enabled: FALSE [component_container_isolated-6] [INFO] [1779393707.668849152] [left.zed_node]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-6] [INFO] [1779393707.669095297] [left.zed_node]: * 3D Max Mapping range [m]: 5 [component_container_isolated-6] [INFO] [1779393707.669326178] [left.zed_node]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.669554020] [left.zed_node]: * Clicked point topic: /clicked_point [component_container_isolated-6] [INFO] [1779393707.669804069] [left.zed_node]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-6] [INFO] [1779393707.670041030] [left.zed_node]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-6] [INFO] [1779393707.670098535] [left.zed_node]: === OBJECT DETECTION parameters === [component_container_isolated-6] [INFO] [1779393707.670325832] [left.zed_node]: * Object Det. enabled: FALSE [component_container_isolated-6] [INFO] [1779393707.670586730] [left.zed_node]: * Object Det. allow reduced precision: FALSE [component_container_isolated-6] [INFO] [1779393707.670841131] [left.zed_node]: * Object Det. maximum range [m]: 20 [component_container_isolated-6] [INFO] [1779393707.671074060] [left.zed_node]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-6] [INFO] [1779393707.671310062] [left.zed_node]: * Object Det. tracking: TRUE [component_container_isolated-6] [INFO] [1779393707.671579599] [left.zed_node]: * Object Filtering mode: NMS3D [component_container_isolated-6] [INFO] [1779393707.671829361] [left.zed_node]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-6] [INFO] [1779393707.672076114] [left.zed_node]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.672340851] [left.zed_node]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.672570517] [left.zed_node]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.672869046] [left.zed_node]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.673102872] [left.zed_node]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.673325433] [left.zed_node]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.673563098] [left.zed_node]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.673804700] [left.zed_node]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.674052765] [left.zed_node]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.674285918] [left.zed_node]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.674523680] [left.zed_node]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.674766625] [left.zed_node]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.674994274] [left.zed_node]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.675235044] [left.zed_node]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.675284388] [left.zed_node]: === Body Track. parameters === [component_container_isolated-6] [INFO] [1779393707.675516869] [left.zed_node]: * Body Track. enabled: FALSE [component_container_isolated-6] [INFO] [1779393707.675774887] [left.zed_node]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-6] [INFO] [1779393707.676020232] [left.zed_node]: * Body Track. format: BODY 38 [component_container_isolated-6] [INFO] [1779393707.676267914] [left.zed_node]: * Body Track. allow reduced precision: FALSE [component_container_isolated-6] [INFO] [1779393707.676504715] [left.zed_node]: * Body Track. maximum range [m]: 15 [component_container_isolated-6] [INFO] [1779393707.676747980] [left.zed_node]: * Body Track. KP selection: FULL [component_container_isolated-6] [INFO] [1779393707.676990958] [left.zed_node]: * Body fitting: FALSE [component_container_isolated-6] [INFO] [1779393707.677196719] [left.zed_node]: * Body joints tracking: TRUE [component_container_isolated-6] [INFO] [1779393707.677484753] [left.zed_node]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-6] [INFO] [1779393707.677727890] [left.zed_node]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.677962579] [left.zed_node]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-6] [INFO] [1779393707.678000692] [left.zed_node]: === STREAMING SERVER parameters === [component_container_isolated-6] [INFO] [1779393707.678223285] [left.zed_node]: * Streaming Server enabled: FALSE [component_container_isolated-6] [INFO] [1779393707.678443190] [left.zed_node]: * Stream codec: H264 [component_container_isolated-6] [INFO] [1779393707.678667863] [left.zed_node]: * Stream port: 30000 [component_container_isolated-6] [INFO] [1779393707.678850584] [left.zed_node]: * Stream bitrate: 12500 [component_container_isolated-6] [INFO] [1779393707.679116986] [left.zed_node]: * Stream GOP size: -1 [component_container_isolated-6] [INFO] [1779393707.679361531] [left.zed_node]: * Stream Chunk size: 16084 [component_container_isolated-6] [INFO] [1779393707.679621181] [left.zed_node]: * Adaptive bitrate: FALSE [component_container_isolated-6] [INFO] [1779393707.679795422] [left.zed_node]: * Target frame rate:0 [component_container_isolated-6] [INFO] [1779393707.679843134] [left.zed_node]: === ADVANCED parameters === [component_container_isolated-6] [INFO] [1779393707.680004927] [left.zed_node]: * Change thread priority: FALSE [component_container_isolated-6] [INFO] [1779393707.680110655] [left.zed_node]: === SERVICES === [component_container_isolated-6] [INFO] [1779393707.681032517] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_odometry' [component_container_isolated-6] [INFO] [1779393707.681448615] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_pos_tracking' [component_container_isolated-6] [INFO] [1779393707.682747342] [left.zed_node]: * Advertised on service: '/left/zed_node/set_pose' [component_container_isolated-6] [INFO] [1779393707.683265809] [left.zed_node]: * Advertised on service: '/left/zed_node/save_area_memory' [component_container_isolated-6] [INFO] [1779393707.684115254] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_obj_det' [component_container_isolated-6] [INFO] [1779393707.684523064] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_body_trk' [component_container_isolated-6] [INFO] [1779393707.684979579] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_mapping' [component_container_isolated-6] [INFO] [1779393707.685367133] [left.zed_node]: * Advertised on service: '/left/zed_node/enable_streaming' [component_container_isolated-6] [INFO] [1779393707.685889120] [left.zed_node]: * Advertised on service: '/left/zed_node/start_svo_rec' [component_container_isolated-6] [INFO] [1779393707.686307267] [left.zed_node]: * Advertised on service: '/left/zed_node/stop_svo_rec' [component_container_isolated-6] [INFO] [1779393707.686806117] [left.zed_node]: * Advertised on service: '/left/zed_node/set_roi' [component_container_isolated-6] [INFO] [1779393707.687190856] [left.zed_node]: * Advertised on service: '/left/zed_node/reset_roi' [component_container_isolated-6] [INFO] [1779393707.687234664] [left.zed_node]: === STARTING CAMERA === [component_container_isolated-6] [INFO] [1779393707.687417001] [left.zed_node]: ZED SDK Version: 5.2.3 - Build 112767_50a3dc68_3019828 [component_container_isolated-6] [INFO] [1779393707.692383397] [left.zed_node]: === CAMERA OPENING === [component_container_isolated-2] FileLocker - Thread 281472390719712 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-8] FileLocker - Thread 281472753658080 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-8] [WARN] [1779393715.405116120] [right.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START [component_container_isolated-8] [INFO] [1779393715.405227257] [right.zed_node]: Please verify the camera connection [component_container_isolated-2] [WARN] [1779393715.489384564] [front.zed_node]: Error opening camera: CAMERA STREAM FAILED TO START [component_container_isolated-2] [INFO] [1779393715.489499285] [front.zed_node]: Please verify the camera connection [component_container_isolated-4] [INFO] [1779393715.805980338] [rear.zed_node]: * ZED SDK running on GPU #0 [component_container_isolated-4] [INFO] [1779393715.806099315] [rear.zed_node]: * Camera Model -> ZED X [component_container_isolated-4] [INFO] [1779393715.806121107] [rear.zed_node]: * Serial Number -> 40483530 [component_container_isolated-4] [INFO] [1779393715.806275124] [rear.zed_node]: * Focal Length -> 2.20477 mm [component_container_isolated-4] [INFO] [1779393715.806311444] [rear.zed_node]: * Input -> GMSL [component_container_isolated-4] [INFO] [1779393715.806332660] [rear.zed_node]: * Camera FW Version -> 2001 [component_container_isolated-4] [INFO] [1779393715.806346900] [rear.zed_node]: * Sensors FW Version -> 1000 [component_container_isolated-4] [INFO] [1779393715.806362836] [rear.zed_node]: * Camera grab size -> 1920x1080 [component_container_isolated-4] [INFO] [1779393715.806375701] [rear.zed_node]: * Color/Depth publishing size -> 1920x1080 [component_container_isolated-4] [INFO] [1779393715.806387989] [rear.zed_node]: * Point Cloud publishing size -> 448x256 [component_container_isolated-4] [INFO] [1779393715.806421877] [rear.zed_node]: === TF FRAMES === [component_container_isolated-4] [INFO] [1779393715.806437813] [rear.zed_node]: * Map -> map [component_container_isolated-4] [INFO] [1779393715.806449269] [rear.zed_node]: * Odometry -> /zed/odom [component_container_isolated-4] [INFO] [1779393715.806460437] [rear.zed_node]: * Base -> rear_camera_link [component_container_isolated-4] [INFO] [1779393715.806470933] [rear.zed_node]: * Camera -> rear_camera_center [component_container_isolated-4] [INFO] [1779393715.806481813] [rear.zed_node]: * Left -> rear_left_camera_frame [component_container_isolated-4] [INFO] [1779393715.806492245] [rear.zed_node]: * Left Optical -> rear_left_camera_frame_optical [component_container_isolated-4] [INFO] [1779393715.806502421] [rear.zed_node]: * Right -> rear_right_camera_frame [component_container_isolated-4] [INFO] [1779393715.806522389] [rear.zed_node]: * Right Optical -> rear_right_camera_frame_optical [component_container_isolated-4] [INFO] [1779393715.806534325] [rear.zed_node]: * Depth -> rear_left_camera_frame [component_container_isolated-4] [INFO] [1779393715.806545302] [rear.zed_node]: * Depth Optical -> rear_left_camera_frame_optical [component_container_isolated-4] [INFO] [1779393715.806555414] [rear.zed_node]: * Point Cloud -> rear_left_camera_frame [component_container_isolated-4] [INFO] [1779393715.806565814] [rear.zed_node]: * IMU -> rear_imu_link [component_container_isolated-4] [INFO] [1779393715.806607766] [rear.zed_node]: === PUBLISHED TOPICS === [component_container_isolated-4] [INFO] [1779393715.808855619] [rear.zed_node]: * Advertised on topic: /rear/zed_node/status/health [component_container_isolated-4] [INFO] [1779393715.810528716] [rear.zed_node]: * Advertised on topic: /rear/zed_node/status/heartbeat [component_container_isolated-4] [INFO] [1779393715.811943700] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image [IPC type-adapted zero-copy] [component_container_isolated-4] [INFO] [1779393715.956421285] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image [component_container_isolated-4] [INFO] [1779393715.956530533] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-4] [INFO] [1779393715.956552902] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image/theora [image_transport] [component_container_isolated-4] [INFO] [1779393715.958511761] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/camera_info [component_container_isolated-4] [INFO] [1779393715.959945017] [rear.zed_node]: * Advertised on topic: /rear/zed_node/rgb/color/rect/image/camera_info [component_container_isolated-4] [INFO] [1779393715.961805923] [rear.zed_node]: * Advertised on topic: /rear/zed_node/pose [component_container_isolated-4] [INFO] [1779393715.963535981] [rear.zed_node]: * Advertised on topic: /rear/zed_node/pose_with_covariance [component_container_isolated-4] [INFO] [1779393715.965390008] [rear.zed_node]: * Advertised on topic: /rear/zed_node/pose/status [component_container_isolated-4] [INFO] [1779393715.967535780] [rear.zed_node]: * Advertised on topic: /rear/zed_node/odom [component_container_isolated-4] [INFO] [1779393715.969417358] [rear.zed_node]: * Advertised on topic: /rear/zed_node/path_map [component_container_isolated-4] [INFO] [1779393715.971059160] [rear.zed_node]: * Advertised on topic: /rear/zed_node/path_odom [component_container_isolated-4] [INFO] [1779393715.972660417] [rear.zed_node]: * Advertised on topic: /rear/zed_node/imu/data [component_container_isolated-4] [INFO] [1779393715.972738465] [rear.zed_node]: Camera-IMU Translation: [component_container_isolated-4] 0 -0.035649 -0.000147 [component_container_isolated-4] [INFO] [1779393715.972799777] [rear.zed_node]: Camera-IMU Rotation: [component_container_isolated-4] FFFF4AA4BF28 [component_container_isolated-4] 0.999921 0.001340 0.012508 [component_container_isolated-4] -0.001246 0.999971 -0.007463 [component_container_isolated-4] -0.012518 0.007447 0.999894 [component_container_isolated-4] [component_container_isolated-4] [INFO] [1779393715.972823490] [rear.zed_node]: === Subscribers === [component_container_isolated-4] [INFO] [1779393715.975002350] [rear.zed_node]: * Plane detection: '/clicked_point' [component_container_isolated-4] [INFO] [1779393716.061136853] [rear.zed_node]: === rear started === [component_container_isolated-4] [INFO] [1779393716.063596355] [rear.zed_node]: === Starting Positional Tracking === [component_container_isolated-4] [INFO] [1779393716.063719203] [rear.zed_node]: * Waiting for valid static transformations... [component_container_isolated-4] [INFO] [1779393716.063889732] [rear.zed_node]: Static transform ref. CMOS Sensor to Base [rear_left_camera_frame -> rear_camera_link] [component_container_isolated-4] [INFO] [1779393716.063930949] [rear.zed_node]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-4] [INFO] [1779393716.063949189] [rear.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-4] [INFO] [1779393716.063983749] [rear.zed_node]: Static transform ref. CMOS Sensor to Camera Center [rear_left_camera_frame -> rear_camera_center] [component_container_isolated-4] [INFO] [1779393716.064001477] [rear.zed_node]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-4] [INFO] [1779393716.064018309] [rear.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-4] [INFO] [1779393716.064056421] [rear.zed_node]: Static transform Camera Center to Base [rear_camera_center -> rear_camera_link] [component_container_isolated-4] [INFO] [1779393716.064072901] [rear.zed_node]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-4] [INFO] [1779393716.064104454] [rear.zed_node]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-4] [INFO] [1779393716.065262476] [rear.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-4] [INFO] [1779393716.065304300] [rear.zed_node]: * T: [-0.01,0.06,0.016] [component_container_isolated-4] [INFO] [1779393716.065332269] [rear.zed_node]: * Q: [0,0,0,1] [component_container_isolated-6] [WARN] [1779393727.692928588] [left.zed_node]: Error opening camera: FAILURE [component_container_isolated-6] [INFO] [1779393727.693042285] [left.zed_node]: Please verify the camera connection [component_container_isolated-8] FileLocker - Thread 281472753658080 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-6] [WARN] [1779393733.193288436] [left.zed_node]: Error opening camera: INVALID FUNCTION CALL [component_container_isolated-6] [INFO] [1779393733.193403925] [left.zed_node]: Please verify the camera connection [component_container_isolated-6] [ERROR] [1779393733.193427541] [left.zed_node]: Camera detection timeout [component_container_isolated-2] FileLocker - Thread 281472390719712 / File : /tmp/.zed_gmsl_list_lock - #52 File lock timeout. Is the process that keeps the file frozen? [component_container_isolated-8] [WARN] [1779393745.873854741] [right.zed_node]: Error opening camera: FAILURE [component_container_isolated-8] [INFO] [1779393745.873957269] [right.zed_node]: Please verify the camera connection [component_container_isolated-8] [ERROR] [1779393745.873983990] [right.zed_node]: Camera detection timeout [component_container_isolated-2] [WARN] [1779393746.041319267] [front.zed_node]: Error opening camera: FAILURE [component_container_isolated-2] [INFO] [1779393746.041428771] [front.zed_node]: Please verify the camera connection [component_container_isolated-2] [ERROR] [1779393746.041454275] [front.zed_node]: Camera detection timeout [component_container_isolated-8] (Argus) Error EndOfFile: Unexpected error in reading socket (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 277) [component_container_isolated-8] (Argus) Error EndOfFile: Receive worker failure, notifying 2 waiting threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 350) [component_container_isolated-8] (Argus) Error InvalidState: Argus client is exiting with 2 outstanding client threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 366) [component_container_isolated-8] (Argus) Error EndOfFile: Receiving thread terminated with error (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadWrapper(), line 379) [component_container_isolated-8] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-8] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-8] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-8] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-8] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-8] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error FileOperationFailed: Failed socket read: Connection reset by peer (in src/rpc/socket/common/SocketUtils.cpp, function readSocket(), line 79) [component_container_isolated-4] (Argus) Error FileOperationFailed: Unexpected error in reading socket (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 277) [component_container_isolated-4] (Argus) Error FileOperationFailed: Receive worker failure, notifying 1 waiting threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 350) [component_container_isolated-4] (Argus) Error InvalidState: Argus client is exiting with 1 outstanding client threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 366) [component_container_isolated-4] (Argus) Error FileOperationFailed: Receiving thread terminated with error (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadWrapper(), line 379) [component_container_isolated-4] (Argus) Error FileOperationFailed: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-4] (Argus) Error FileOperationFailed: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] [ERROR] [1779393748.027751204] [rear.zed_node]: Connection issue detected: CAMERA REBOOTING [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-4] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-4] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-2] (Argus) Error EndOfFile: Unexpected error in reading socket (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 277) [component_container_isolated-2] (Argus) Error EndOfFile: Receive worker failure, notifying 2 waiting threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 350) [component_container_isolated-2] (Argus) Error InvalidState: Argus client is exiting with 2 outstanding client threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 366) [component_container_isolated-2] (Argus) Error EndOfFile: Receiving thread terminated with error (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadWrapper(), line 379) [component_container_isolated-2] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-2] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-2] (Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96) [component_container_isolated-2] (Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145) [component_container_isolated-2] (Argus) Error EndOfFile: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-2] (Argus) Error InvalidState: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-6] (Argus) Error Timeout: (propagating from src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 137) [component_container_isolated-6] (Argus) Error Timeout: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-6] (Argus) Error Timeout: (propagating from src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 137) [component_container_isolated-6] (Argus) Error Timeout: (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 92) [component_container_isolated-6] (Argus) Error FileOperationFailed: Failed socket read: Connection reset by peer (in src/rpc/socket/common/SocketUtils.cpp, function readSocket(), line 79) [component_container_isolated-6] (Argus) Error InvalidState: Argus client is exiting with 3 outstanding client threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 366) [component_container_isolated-6] WARNING Argus: 26 client objects still exist during shutdown: [component_container_isolated-6] 281471422603744 (0xffff680c0470) [component_container_isolated-6] 281471422608000 (0xffff680c0550) [component_container_isolated-6] 281471422612256 (0xffff680c0630) [component_container_isolated-6] 281471422616512 (0xffff680c0710) [component_container_isolated-6] 281471422616752 (0xffff680c07f0) [component_container_isolated-6] 281471423401104 (0xffff680c7820) [component_container_isolated-6] 281471423405360 (0xffff680c7900) [component_container_isolated-6] 281471423409744 (0xffff680c79e0) [component_container_isolated-6] 281471423414000 (0xffff680c7ac0) [component_container_isolated-6] 281471423415552 (0xffff680c7ba0) [component_container_isolated-6] 281471424141952 (0xffff68059f90) [component_container_isolated-6] 281471424412848 (0xffff68037f00) [component_container_isolated-6] 281471424414480 (0xffff68048040) [component_container_isolated-6] 281471436593264 (0xffff680c08d0) [component_container_isolated-6] 281471436597520 (0xffff680c74a0) [component_container_isolated-6] 281471436599616 (0xffff680c7580) [component_container_isolated-6] 281471436599856 (0xffff680c7660) [component_container_isolated-6] 281471436615424 (0xffff680c7c80) [component_container_isolated-6] 281471436619680 (0xffff68038a30) [component_container_isolated-6] 281471436628152 (0xffff680c8568) [component_container_isolated-6] 281471436630176 (0xffff38000e80) [component_container_isolated-6] 281471437086032 (0xffff680c02b0) [component_container_isolated-6] 281471437090288 (0xffff680c0390) [component_container_isolated-6] 281471437759712 (0xffff68036230) [component_container_isolated-6] 281471437761360 (0xffff68048a60) [component_container_isolated-6] 281471438022800 (0xffff680c7740) [ERROR] [component_container_isolated-6]: process has died [pid 7770, exit code 1, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/left']. [component_container_isolated-4] [ERROR] [1779393749.096386716] [rear.zed_node]: Connection issue detected: CAMERA REBOOTING [ERROR] [component_container_isolated-8]: process has died [pid 7774, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/right']. [component_container_isolated-4] [ERROR] [1779393750.165072562] [rear.zed_node]: Connection issue detected: CAMERA REBOOTING [ERROR] [component_container_isolated-2]: process has died [pid 7762, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/front']. [component_container_isolated-4] [ERROR] [1779393751.233695335] [rear.zed_node]: Connection issue detected: CAMERA REBOOTING [component_container_isolated-4] [ERROR] [1779393752.302247995] [rear.zed_node]: Connection issue detected: CAMERA REBOOTING ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-7] [INFO] [1779393752.339941295] [rclcpp]: signal_handler(SIGINT/SIGTERM) [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 7760] [INFO] [robot_state_publisher-5]: process has finished cleanly [pid 7768] [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 7764] [INFO] [robot_state_publisher-7]: process has finished cleanly [pid 7772] [INFO] [svo_controller-9]: process has finished cleanly [pid 7781] [component_container_isolated-4] [INFO] [1779393752.339952719] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-5] [INFO] [1779393752.339950607] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-1] [INFO] [1779393752.339970831] [rclcpp]: signal_handler(SIGINT/SIGTERM) [robot_state_publisher-3] [INFO] [1779393752.339981583] [rclcpp]: signal_handler(SIGINT/SIGTERM) [svo_controller-9] [INFO] [1779393752.339982415] [rclcpp]: signal_handler(SIGINT/SIGTERM) [component_container_isolated-4] [INFO] [1779393753.302749456] [rear.zed_node]: === CLOSING CAMERA === [ERROR] [component_container_isolated-4]: process[component_container_isolated-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [component_container_isolated-4]: sending signal 'SIGTERM' to process[component_container_isolated-4] [ERROR] [component_container_isolated-4]: process[component_container_isolated-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' [INFO] [component_container_isolated-4]: sending signal 'SIGKILL' to process[component_container_isolated-4] [ERROR] [component_container_isolated-4]: process has died [pid 7766, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --use_multi_threaded_executor --ros-args --log-level info --ros-args -r __node:=zed_container -r __ns:=/rear']. nvidia@tegra-ubuntu:~/ros2_ws$ ZED_Explorer -a ## Cam 0 ## Model : "ZED X" S/N : 41385721 State : "AVAILABLE" Path : /dev/i2c-9 ID : 0 Port : 0 Type : "GMSL" ******************** ## Cam 1 ## Model : "ZED X" S/N : 49440015 State : "AVAILABLE" Path : /dev/i2c-10 ID : 1 Port : 0 Type : "GMSL" ******************** ## Cam 2 ## Model : "ZED X" S/N : 44036609 State : "AVAILABLE" Path : /dev/i2c-11 ID : 2 Port : 0 Type : "GMSL" ******************** ## Cam 3 ## Model : "ZED X" S/N : 40483530 State : "NOT AVAILABLE" Path : /dev/i2c-12 ID : 3 Port : 0 Type : "GMSL" ******************** nvidia@tegra-ubuntu:~/ros2_ws$